基于卡尔曼滤波的GPS定位系统设计
毕业论文关键字： 卡尔曼滤波；全球定位系统；定位精度
The Research on GPS Position Based on Kalman Filter
Abstract：With the background of GPS (Global Positioning System), this article proposed applies the GPS filter model of the Kalman filtering, to study the currents in the development of GPS and in practical using. It also discussed about the Kalman Filtering Algorithm. Its theory and implementing process has been introduced in detail to provide effective theoratical guidance in practical use. At present, to improve GPS positioning accuracy in the autonomous areas of research methods, we commonly use Kalman filter algorithm to process GPS location data. As a result of the position error existence in the GPS dynamic navigation localization, we must carry on filter processing to the dynamic localization data for the enhancement pointing accuracy. In the base of comparing each kind of dynamic model, this article proposed applies the GPS filter model of the Kalman filtering, the actual examples of filter calculation are simulated, it confirmed that the model is feasibility and validity. Finally, this article also proposed the existing problems and improving the idea of the applications of Kalman filter in GPS positioning.
Key Words: Kalman Filter；GPS；Positioning Error
目 录
1 绪论 1
1.1 GPS的简介与应用 1
1.2 课题的目的与意义 4
1.3 国内外研究现状与水平 5
1.4 目前GPS定位系统面临新的困难和挑战 5
2 卡尔曼滤波理论 8
2.1 卡尔曼滤波理论的工程背景 8
2.2 卡尔曼滤波理论 8
3 卡尔曼滤波器在GPS定位中的应用 12
3.1 卡尔曼滤波器在GPS定位中的应用概述 12
3.2 卡尔曼滤波模型 12
3.3 GPS测量系统建模 14
3.4 仿真与实验 14
3.4.1 卡尔曼滤波器原理仿真 14
3.4.2 GPS数据采集 15
3.4.3 实验验证 17
4 卡尔曼滤波器在GPS定位应用中的改进 18
4.1 野值的处理 18
4.2 对状态以及观测噪声方差阵的处理 18
4.3 对观测噪声和测量噪声的处理 19
5 结论 21
致谢 22
参考文献 23
附录 25
1 绪论
1.1 GPS的简介与应用
赫兹证明麦克斯韦电磁波辐射理论以来,科学家开始研究无线电导航和定位系统。无线电导航和定位系统是使用无线电技术，根据接收机确定方位测量的点在地面的方向，距离、距离差数据,从而确定其位置，完成车辆定位和导航。
早期的无线电导航系统是建立在地面或发射器和接收器的载体,称为路基无线电导航系统或地面无线电导航系统。然而距离地面无线电导航系统的功能和定位的精度一直难以提高,只能满足一小部分用户的需求。1957年,世界上第一颗人造卫星由前苏联发射,标志着人类开始进入太空时代。