GPS/DR Vehicle Integrated Navigation System Based on Central Difference Kalman Filter

摘要

In this paper we use Central Difference Kalman Filter (CDKF) and Federal Kalman Filter (FKF) to integrate Global Positioning System (GPS) and Dead Reckoning (DR). After analyzing principles and characters of navigation and positioning system of GPS and DR, we found mathematical model of integrated system, and then we give GPS and DR data fusion of specific algorithms. At last the simulation with the integrated system is implemented. The results demonstrate that GPS/DR integrated system using CDFK has a good performance both in stability and estimation accuracy.