Method for estimating position of vehicle using Interacting Multiple Model filter

摘要

vehicle position estimation method using an interactive multi-model filter according to the present invention, the kinematic model predicted value calculated by the kinematic model EKF and the dynamic model predicted value and calculating a dynamic model, extended Kalman filter, calculating a value of the kinematic model of the filter between the measurement value indicating the current position of the kinematic model predicted value and vehicle and the vehicle dynamics model predicted value and the value of the dynamic model between the filtered value of the measured value that indicates the current position and calculating, by integrating the dynamic model filtering value and the kinematic model filter value for calculating the final correction value and a step. With a vehicle position estimation method using an interactive multi-model filter according to the present invention, in the GPS reception is poor location can estimate the position of the vehicle stably, even if the operation is an error in the extended Kalman filter error value a can be reduced, and the advantage of being able to more accurately estimate the position of the vehicle by setting the weight to be added to the data than reasonably calculated from the kinematic model extended dynamic model calculated data from the Kalman filter and the Extended Kalman filter. ;