KALMAN ALGORITHM CONSTRAINTED BY MAP INFORMATION APPLIED TO GPS/DR INTEGRATED NAVIGATION
附有地图信息约束的GPS/DR组合导航系统Kalman滤波算法

In the GPS/DR integrated navigation,the signals of GPS are easy to be blocked by the ground objects,so the signal receiving to be interrupted and GPS positioning is suspended,DR system runs separately.In that case,the direction sensor errors of the DR system accumulate with time,which greatly affects the navigation accuracy.By making the map information be a constraint integrated into the navigation system algorithm,then it restricts the direction sensor errors of the DR system accumulate with time and effectively improve the positioning accuracy.