An Altitude Location System for Vehicle Based on Federated Kalman Filter

摘要

In order to better locate the altitude of vehicle in complex conditions such as urban environment, an altitude measurement system based on GPS and multi-sensor is proposed. Global positioning system, barometric altimeter and inertial measurement unit are used to measure the altitude of vehicle based on information fusion algorithm. The principle and model of the three sensors are analyzed, and information fusion algorithm based on federated filter is studied. On this basis, the information prediction and fusion process of the three sensors is discussed. The experiment results show that the system is reasonable in design and can measure the altitude of the vehicle accurately, which has certain application value.