Vehicle GPS/DR information fusion based on Federal Kalman filter
Yong Guan · Jisuanji gongcheng yu sheji · 2008
The information from the different sensors of GPS/DR integrated navigation system needs to be fused in order to implement the optimal evaluation of global states.The federal Kalman filter is designed to fuse GPS and DR information.Two local filters process GPS and DR data respectively,and main filter is responsible for data fusion and reset to local filters.The federal filter solves some prob-lems such as system unavailability,accumulative errors with GPS alone or DR alone.The simulation turns out that the positioning accuracy and credibility are both much higher than those of GPS used alone.