万方数据资源系统

中国公路学报
CHINA JOURNAL OF HIGHWAY AND TRANSPORT
2007 Vol.20 No.2 P.108-112

数字化期刊

改进粒子滤波算法在组合导航中的应用

赵梅  张三同  朱刚 

摘 要:为了提高组合导航定位系统的定位精度和可靠性,分别对扩展卡尔曼滤波(EKF)、粒子滤波(PF)和U卡尔曼滤波(UKF)3种算法进行了分析.通过分析3种算法各自的特点,将PF算法和UKF算法的优点相结合,提出了一种新的粒子滤波算法--U粒子滤波(UPF)算法,并将其应用于GPS/DR组合导航系统中.通过对UPF算法与PF算法在GPS/DR组合导航系统中的仿真研究比较,进一步证实了UPF算法的可行性及计算的精确性.
关键词:交通工程;GPS/DR组合导航;仿真;改进粒子滤波算法;U卡尔曼滤波
分类号:U491.123 文献标识码:A

文章编号:1001-7372(2007)02-0108-05

Application of Improved Particle Filter Algorithm to Integrated Navigation

ZHAO Mei  ZHANG San-tong  ZHU Gang 

基金项目:国家自然科学基金项目(60272011)
作者简介:赵梅(1980-),女,河北保定人,工学硕士研究生,E-mail:zhomei408@sina.com.
作者单位:赵梅(北京交通大学,电子信息工程学院,北京,100044) 
     张三同(北京交通大学,电子信息工程学院,北京,100044) 
     朱刚(北京交通大学,电子信息工程学院,北京,100044) 

参考文献:

[1]雒应,王有德,张碧琴.GPS实时动态定位技术在公路定线测量中的应用与精度分析[J].长安大学学报:自然科学版,2002,22(6):25-28.LUO Ying,WANG You-de,ZHANG Bi-qin.Application and Accuracy Analysis of GPS Real Time Kinematics Technique in Highway Location Survey[J].Journal of Chang'an University:Natural Science Edition,2002,22(6):25-28.
[2]王晋国,王卫亚,田丰,等.智能导航车载系统[J].交通运输工程学报,2005,5(2):106-109.WANG Jin-guo,WANG Wei-ya,TIAN Feng,et al.Vehicle Device System of Intelligent Guiding[J].Journal of Traffic and Transportation Engineering,2005,5(2):106-109.
[3]张建军,王保保.基于公共对象请求代理体系的智能交通系统[J].长安大学学报:自然科学版,2004,24(2):61-65.ZHANG Jian-jun,WANG Bao-bao.ITS Based on Common Object Request Broker Architecture (CORBA)[J].Journal of Chang'an University:Natural Science Edition,2004,24(2):61-65.
[4]房建成,李学恩,申功勋.市区车辆GPS/DR组合导航系统的研究[J].中国公路学报,1999,12(1):84-89.FANG Jian-cheng,LI Xue-en,SHEN Gong-xun.The Research of GPS/DR Integrated Navigation System in Cantonal Vehicle[J].China Journal of Highway and Transport,1999,12 (1):84-89.
[5]于德新,杨兆升,刘雪杰.基于卡尔曼滤波的GPS/DR导航信息融合方法[J].交通运输工程学报,2006,6(2):65-69.YU De-xin,YANG Zhao-sheng,LIU Xue-jie.GPS/DR Navigation Data Fusion Method Based on Kalman Filter[J].Journal of Traffic and Transportation Engineering,2006,6(2):65-69.
[6]吴秋平,万德钧,徐晓苏,等.车载GPS/DR组合导航系统的研究及其滤波算法[J].东南大学学报,1997,27(2):55-59.WU Qiu-ping,WAN De-jun,XU Xiao-su,et al.Study on GPS/DR Integrated Vehicular Navigation System and Its Filter Algorithm[J].Journal of Southeast University,1997,27 (2):55-59.
[7]房建成,申功勋,万德钧.自适应卡尔曼滤波器在陆地车辆导航中的应用[J].北京航空航天大学学报,1999,25(2):235-239.FANG Jian-cheng,SHEN Gong-xun,WAN De-jun.Adaptive Extended Kalman Filter Model for Integrated Land Vehicle Navigation System[J].Journal of Beijing University of Aeronautics and Astronautics,1999,25(2):235-239.
[8]房建成,申功勋,万德钧.一种自适应联合卡尔曼滤波器及其在车载GPS/DR组合导航系统中的应用研究[J].中国惯性技术学报,1998,6(8):1-6.FANG Jian-cheng,SHEN Gong-xun,WAN De-jun.An Adaptive Federated Kalman Filter and Its Application at GPS/DR Integrated Vehicular Navigation System[J].Journal of Chinese Inertial Technology,1998,6(8):1-6.
[9]JULIER S,UHLMANN J.A New Method for the Nonlinear Transformation of Means and Covariance in Filters and Estimators[J].IEEE Transactions on Automatic Control,2000,45(3):477-482.
[10]GORDON NJ,SALMONDDJ,SMITH AFM.Novel Approach to Nonlinear/Non-gaussian Bayesian State Estimation[J].IEEE Proceedings on Radar and Signal Processing,1993,140(2):107-113.
[11]ANDERSON B,MOORE J.Optimal Filtering[M].Englewood Cliffs:Prentice Hall,1979.
[12]MERWE R,DOUCET A,FREITAS N,et al.The Unscented Particle Filter[C]//LEEN T K,DIETTERICH T G,TRESP V.Advances in Neural Information Processing Systems.Denver:NIPS,2000:27-30.

收稿日期:2006年6月6日

出版日期:2007年3月31日

请看PDF全文