动态建模及其对GPS导航过器估计准确性的影响
Dah-Jing Jwo1, Ta-Shun Cho2, Birhanu Ayalew Demssie1
1Department of Communications, Navigation and Control Engineering, National Taiwan Ocean University, 2 Peining Road, Zhongzheng, Keelung 202301, Taiwan.
Sensors (Basel, Switzerland)
|February 13, 2025
概括
这项研究通过在扩展的卡尔曼波器 (EKF) 中使用虚拟过程噪声来增强GPS导航,以克服动态建模的不准确性. 这种方法可以在各种运动场景中提高轨迹跟踪和导航精度.
科学领域:
- 导航系统 导航系统
- 估计理论估计理论
- 信号处理 信号处理
背景情况:
- 卡尔曼波器 (KF) 和扩展的卡尔曼波器 (EKF) 算法依赖于过程模型,这些过程模型往往与现实环境不同,降低了实时导航性能.
- 动态建模中的不准确性是全球定位系统 (GPS) 导航中分歧问题的主要原因.
研究的目的:
- 解决GPS导航系统中因动态建模不准确而导致的分歧问题.
- 引入和评估虚构的工艺噪声作为缓解EKF分歧的解决方案.
- 为了提高GPS导航过器的可观测性和可控制性.
主要方法:
- 该研究采用扩展卡尔曼波器 (EKF),引入虚构的工艺噪声.
- 协差估计和调整因子被用来提高过器的性能.
- 模拟包括各种运动场景:静止接收器,直线轨迹 (恒定/变速) 和转向轨迹.
- 位置 (P),位置-速度 (PV) 和位置-速度-加速 (PVA) 模型使用模拟接收器进行评估.
主要成果:
- 包括工艺噪声使EKF能够适应速度和方向的变化,而无需明确的动态建模.
- 与普通最小方形 (OLS) 方法相比,模拟显示了改进的车辆轨迹跟踪.
- 带有虚构过程噪声的EKF在各种场景中显示了增强的统计可靠性和现实世界的性能.
结论:
- 虚构的工艺噪声是缓解基于EKF的GPS导航系统差异的有效补救措施.
- 拟议的方法提供了一种系统方法来提高估计准确性,并扩大导航系统的适用性.
- 这项研究为提高GPS导航过器设计的稳定性和精度提供了宝贵的见解.
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