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Pacific-Asia Workshop on Computational Intelligence and Industrial Application, IEEE (2008)
Dec. 19, 2008 to Dec. 20, 2008
ISBN: 978-0-7695-3490-9
pp: 704-707
ABSTRACT
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.
INDEX TERMS
the global positioning system, the dead reckoning, the Extended Kalman filter, EKF-smoother
CITATION
Liuping Xiao, Jian Rong, Haitao Zhang, Huajun Yang, Ling Zhang, Xiaochun Zhong, "The Application and Design of EKF Smoother Based on GPS/DR Integration for Land Vehicle Navigation", Pacific-Asia Workshop on Computational Intelligence and Industrial Application, IEEE, vol. 01, no. , pp. 704-707, 2008, doi:10.1109/PACIIA.2008.131
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