GPS Navigation Using Adaptive Kalman Filter for Maneuvering Vehicle

摘要

Several filter techniques were available for the GPS position estimation problem of maneuvering vehicle ranging from using different process noises to Interactive Multiple Model (IMM). The limitation of using standard Kalman filters is listed.The performance of proposed adaptive filter is compared with that of the standard ones,two types of dynamic modeling of the maneuvering vehicle are used.The simulation is based on the almanac data of the GPS satellites to compute its feasibility during the simulation time and position on shape 8 track with continuous vehicle maneuvering. The goal is to obtain computationally efficient filter with reasonable accuracy for vehicle in maneuvering situation. The filter proposed is an alternative to the filter proposed in Ref. [1] with low computational burden.