Pacific-Asia Workshop on Computational Intelligence and Industrial Application, IEEE (2008)
Dec. 19, 2008 to Dec. 20, 2008
This paper proposes a land vehicle navigation algorithm based on the global positioning system (GPS) and the dead reckoning (DR).To achieve high location and velocity accuracy , the extended Kalman filte smoother (EKF-smoother) is introduced for GPS/DR integrated navigation system. And the algorithm of the EKF and the EKF-smoother is given. Further, the state models and the measurement models of GPS/DR are set up. For comparision purpose, the algorithm performance of EKF and EKF-smoother is contrasted. Numerical results demonstrate that the proposed EKF-smoother algorithm gives much higher navigation accuracy than EKF algorithm for land vehicle navigation. The algorithm has obvious advantages of high accuracy.
the global positioning system, the dead reckoning, the Extended Kalman filter, EKF-smoother
L. Xiao, J. Rong, H. Zhang, H. Yang, L. Zhang and X. Zhong, "The Application and Design of EKF Smoother Based on GPS/DR Integration for Land Vehicle Navigation," 2008 Pacific-Asia Workshop on Computational Intelligence and Industrial Application. PACIIA 2008(PACIIA), Wuhan, 2008, pp. 704-707.