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Vehicular GPS/DR Navigation with Environmental-Adaptive Kalman Filter Gain
Vehicular GPS/DR Navigation with Environmental-Adaptive Kalman Filter Gain
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机译:具有环境自适应卡尔曼滤波增益的车载GPS / DR导航
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摘要
A method is provided for estimating position using an integrated Global Navigation Satellite System (GNSS)/dead reckoning (DR) (GNSS/DR) navigation system in a vehicle. The method includes: determining a current environment of the vehicle from a plurality of environments based on at least one parameter; calculating a Kalman filter-related parameter based on the determined current environment, wherein the Kalman filter-related parameter corresponds to a representation of weight given to GNSS navigation and DR navigation relative to one another; and estimating a position of the vehicle based on the calculated Kalman filter-related parameter utilizing a Kalman filter.
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