Research on Data Fusion Method of Vehicle GPS /DR Integrated Navigation System
Zhang Li-pin · Journal of Shenyang Ligong University · 2014
GPS /DR integrated navigation system is a nonlinear system,which leads to a big error in realizing system linearization by using the extended Kalman filter( EKF). Aiming at solving the problem,the improved particle filter algorithm( UPF) combining the unscented Kalman filter( UKF) and particle filter( PF) is applied to the GPS / DR integrated navigation system. It not only avoids the linear approximation of EKF,but also optimizes the PF algorithm and improves the positioning accuracy. Experimental results show that,compared w ith the EKF algorithm and PF algorithm,UPF algorithm has higher robustness and better positioning effect.