基于WT-UKF的PDRGPS组合定位算法.pdfVIP

绗?0 鍗 绗? 鏈 鎺 鍒 涓 鍐 绛 2015 骞 1 鏈 Vol. 30 No. 1 Control and Decision Jan. 2015 鏂囩珷缂栧彿: 1001-0920 (2015) 01-86-05 DOI: 10.13195/j.kzyjc.2013.0943 鍩轰簬WT-UKF 鐨凱DR/GPS 缁勫悎瀹氫綅绠楁硶 鐢板浗浼? 寮犲簡瀹? 涓佸濞 ( 灞变笢澶у鎺у埗绉戝涓庡伐绋嬪闄紝娴庡崡250061) 鎽 瑕? 閽堝琛屼汉鑸抗鎺ㄧ畻(PDR) 涓庡叏鐞冨畾浣嶇郴缁?GPS) 缁勫悎瀹氫綅闂, 鎻愬嚭涓€绉嶅熀浜庡皬娉㈠彉鎹?WT) 鐨勬棤杩瑰崱灏 鏇兼护娉?UKF) 鏀硅繘绠楁硶, 瀵筆DR 鍜孏PS 瀹氫綅缁撴灉杩涜鏁版嵁铻嶅悎. 寤虹珛PDR/GPS 缁勫悎瀹氫綅绯荤粺鏁板妯″瀷, 閲囩敤灏忔尝 鍙樻崲瀵硅繍鍔ㄥ姞閫熷害淇″彿鍣０鐗规€ц繘琛屽湪绾夸及璁? 浠ユ洿鏂癠KF 鐨勫崗鏂瑰樊鐭╅樀. 鎵€鎻愬嚭鐨刉T-UKF 婊ゆ尝绠楁硶寮ヨˉ浜嗕紶 缁烾KF 绠楁硶鍥犱汉涓哄亣瀹氫俊鍙峰櫔澹颁负楂樻柉鐧藉櫔澹拌€屽奖鍝嶆护娉㈡晥鏋滃拰绮惧害鐨勭己闄? 瀹為獙缁撴灉琛ㄦ槑, 浣跨敤WT-UKF 婊ゆ尝绠 娉曞PDR/GPS 杩涜鏁版嵁铻嶅悎鏃剁ǔ瀹氭€ф洿寮? 绮惧害鏇撮珮. 鍏抽敭璇岤 灏忔尝鍙樻崲锛涙棤杩瑰崱灏旀浖婊ゆ尝锛涜浜鸿埅杩规帹绠楋紱鍏ㄧ悆瀹氫綅绯荤粺锛涚粍鍚堝畾浣 涓浘鍒嗙被鍙耳 TP202 鏂囩尞鏍囧織鐮? A Research on integrated positioning of PDR and GPS based WT-UKF TIAN Guo-hui, ZHANG Qing-bin, DING Na-na (School of Control Science and Engineering锛孲handong University锛孞i鈥檔an 250061 锛孋hina. Correspondent 锛歍IAN Guo- hui 锛孍-mail 锛歡.h.tian@sdu.edu.cn) Abstract: Aiming at the integrated positioning problem which combines pedestrian dead reckoning(PDR) and global position system(GPS), a wavelet transform-based uscented Kalman 铿乴ter(UKF) which is used for data fusion is proposed for positioning results from PDR and GPS. Firstly, the PDR/GPS integrated positioning system mathematical model is established. The wavelet transform is adopted to on-line estimation of motion acceleration noise characteristics, and to update the covariance matrix of UKF. The proposed WT-UKF method makes up the traditional UKF鈥檚 defects that the 铿乴tering effect and accuracy are affected because the signal noise is assumed as Gaussian