基于改进的扩展卡尔曼滤波在GPS测速中的应用.doc

基于改进的扩展卡尔曼滤波在GPS测速中的应用 摘要：汽车电子控制系统对动态测速提出较高的要求，使用位 差法和扩展卡尔曼滤波融合算法用于GPS测速比GPS位置差分 测速方法具有更高的精度，但在汽车快速转弯时误差较大。为此 通过有限差分运算获取滤波验前、验后误差协方差矩阵，增强滤 波过程的收敛性，再以有限差分扩展卡尔曼滤波算法对汽车实时 位置进行运算以获取实时车速。实验结果表明，相比扩展卡尔曼 滤波GPS测速方法，该文算法具有更高的测速精度。 关键词：汽车电子控制系统；全球定位系统；动态测速; 扩展卡尔曼滤波算法；有限差分运算 中图分类号：TN61?34文献标识码： (2016) 08?0030?03 A文章编号： Application of improved extended Kalman filtering algorithm in velocity determination with GPS FENG Xuelil, 2, YAN Fuwul, HU Jiel (1. Automotive Engineering Institute, Wuhan University of Technology, Wuhan 430070, China； 2? Mechanical and Electrical Engineering College, Hangzhou Polytechnic, Hangzhou 3114029 China) Abstract： Dynamic velocity determination had to meet the higher requirement from the vehicle electronic control system? The algorithm combining finite?difference algorithm with extended Kalman filtering algorithm has higher accuracy in GPS velocity determination than GPS location difference velocity determination method, but there is a larger measuring error during the fast turning of car. The finite?difference operation is adopted to achieve the priori error covariance matrix and the posterior error covariance matrix of filtering to enhance the convergence of the filtering process , and then the finite?difference extended Kalman filtering algorithm is used to calculate car，s real?time location9 so as to get the real?time speed of the vehicle? The experiment results show that the improved algorithm has higher measuring accuracy than that of the extended Kalman filtering velocity determination algorithm? Keywords: vehicle electronic control system ； global positioning system ； dynamic velocity determination； extended Kalman filtering algorithm； finite?difference operation 近年来由于信息技术、计算机技术和电子技术的快速发展和 应用普及，汽车电子控制技术得到长足的发展，在智能化、网络 化、控制精度、控制范等领域均取得了一定的突破性成果[1], 化、控制精度、控制范 等领域均取得了一定的突破性成果[1], 进一步提升了现代汽车的发展水平;但同时汽车电子控制技术的 智能化.网络化和集成化也对汽车状态的测量提出了更高效更快 捷更准确的要求［2］。汽车行驶过程中的动态参数如加速度、车 速、质心侧偏角、横摆角速度等不仅是汽车性能评估的重要因素, 还是汽车电子控制的重要参数，对上述参数的低成本、高精度的 测量是提升汽车电子控