基于车载GPS导航的非线性动态滤波算法

摘要

In order to increase the positioning accuracy of the vehicle navigation, the nonlinear dynamic filter algorithm is presented based on the Global Positioning System. The method sets up the dynamic positioning model of the vehicle navigatioa According to nonlinear equation it can obtain accurate mean and variance of the posterior probability density function,and can correcte the positioning accuracy of the vehicle navigation. Simulation results indicate that this method overcomes the distortion of problems caused by the spread filter of the dynamic GPS positioning information and improves the precision of the filter.%为了提高车载导航定位精度,根据全球定位系统(GPS)的特点,在分析线性滤波算法缺陷的基础上,建立了车载导航动态定位模型,并在通过准确获取后验概率密度函数的均值和方差经过非线性变换修正导航定位位置,给出了一种非线性动态滤波算法.仿真实验表明,与卡尔曼滤波相比,该方法能克服了滤波发散导致结果失真的问题,提高滤波的精度,解决线性滤波算法发散的缺陷.