An improved method of adaptive Kalman filtering for vehicular kinematic positioning

摘要

Due to the fact that the traditional Kalman filtering has difficulties in determining dynamic noise and observation noise in the application of vehicular GPS dynamic positioning, an improved adaptive Kalman filter algorithm is put forward for GPS dynamic positioning in this paper. The proposed algorithm has the ability of making a real-time correction on the parameters of system noise, avoiding the filter divergence during the traditional Kalman filtering. In addition, it overcomes the problems caused by the variable dimensions of the system positioning state. Experiment results have demonstrated the outstanding adaptive ability of the improved Kalman filter.