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基于WT-UKF的PDR/GPS组合定位算法

DOI: 10.13195/j.kzyjc.2013.0943, PP. 86-90

Keywords: 小波变换,无迹卡尔曼滤波,行人航迹推算,全球定位系统,组合定位

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Abstract:

针对行人航迹推算(PDR)与全球定位系统(GPS)组合定位问题,提出一种基于小波变换(WT)的无迹卡尔曼滤波(UKF)改进算法,对PDR和GPS定位结果进行数据融合.建立PDR/GPS组合定位系统数学模型,采用小波变换对运动加速度信号噪声特性进行在线估计,以更新UKF的协方差矩阵.所提出的WT-UKF滤波算法弥补了传统UKF算法因人为假定信号噪声为高斯白噪声而影响滤波效果和精度的缺陷.实验结果表明,使用WT-UKF滤波算法对PDR/GPS进行数据融合时稳定性更强,精度更高.

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