Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Acta Geodaetica et Cartographica Sinica》 2010-05
Add to Favorite Get Latest Update

Integrated Localization Algorithm for DGPS/DR Based on SUT-EKF

SHI Xingxi1,WANG Tiesheng3,HUANG Bo2,ZHAO Chunxia2 1.School of Science,Nanjing University of Science and Technology,Nanjing 210094,China;2.School of Computer Science and Technology,Nanjing University of Science and Technology,Nanjing 210094,China;3.College of Resources and Environmental Information,North China Institute of Water Conservancy and Hydroelectric Power,Zhengzhou 450008,China  
Aiming at the integrated localization issue for mobile robot based on DGPS/DR,an algorithm based on scale unscented transformation and extended Kalman filter(SUT-EKF)is used.For the characteristic of nonlinear state equation and linear measurement equation,the robot location can be predicted by SUT and can be updated with new observations by EKF.The algorithm doesn't compute the Jacobian matrix,it can decrease effectively the error of nonlinear system brought by the linearization.Simulation results show that the new algorithm has better filtering precision and stability.
【Fund】: 国家863计划(2006AA04Z238)
【CateGory Index】: P228.4
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
【Citations】
Chinese Journal Full-text Database 4 Hits
1 GAO Wei-guang1,3,YANG Yuan-xi2,ZHANG Ting3(1.Institute of Surveying and Mapping,University of Information Engineering,Zhengzhou 450052,China;2.Xi′an Research Institute of Surveying and Mapping,Xi′an 710054,China;3.61081 Troops,Beijing 100094,China);Neural Network Aided Adaptive Filtering for GPS/INS Integrated Navigation[J];Acta Geodaetica et Cartographica Sinica;2007-01
2 Ren Chao Wu Si-liang Wang Ju (School of Information Science and Technology, Beijing Institute of Technology, Beijing 100081, China);A Novel Wideband Interference Cancellation Methodfor GPS Receiver[J];Journal of Electronics & Information Technology;2008-08
3 LI Mao-hai, HONG Bing-rong (School of Computer Science and Technology, Harbin Institute of Technology, Harbin150001, China);Progress of Probabilistic Localization Methods in Mobile Robots[J];Robot;2005-04
4 YANG Jing, ZHENG Nan-ning (Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University, Xi’an 710049, China);Integrated Positioning Algorithm for GPS/DR Based on SR-UKF[J];Journal of System Simulation;2009-03
【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 NIE Jian-liang①,QIN Yong②,LIU Hui③(①School of Geological and Surveying Engineering,Chang'an University,Xi'an 710054,China;②The Xiangfan Branch of Military Economic Academy of PLA,441118 China;③Henan Highway Engineering Supervision Consultation Limited Company,Zhengzhou 450052,China);The application of BP neural network based on UKF height fitting[J];Science of Surveying and Mapping;2007-06
2 GAO Wei-guang①②,DU Yan ②,WANG Nan②(① Institute of Surveying and Mapping,University of Information Engineering,Zhengzhou 450052,China;② 61081 Troops,Beijing,100094 China);Analysis of the influence of model errors on two chi-square statistical hypothesis test algorithms[J];Science of Surveying and Mapping;2009-01
3 LIN Xue-yuan,HE You Research Institute of Information,Naval Aeronautics Engineering Institute,Yantai 264001,China;Performance Analysis of Location with Three Geostationary Satellites and Fusion Method Combined with SINS[J];Acta Geodaetica et Cartographica Sinica;2008-02
4 Ruan Di,Han Chongzhao(Institute of Integrated Automation,School of Electronics and Information Engineering,Xi’an Jiaotong University,Xi’an,710049);Application of Compressed Sensing Theory in GPS/SINS Integrated Navigation[J];Missiles and Space Vehicles;2010-04
5 CHEN Yang-zhong~(1,2),LIU Shi-rong~2,YU Jin-shou~1(1.Research Institute of Automation,East China University of Science and Technology,Shanghai 200237,China;2.Research Institute of Automation,Hangzhou Dianzi University,Hangzhou 310018,China);Pose State Estimate of Mobile Robots Based on Nonlinear Filters[J];Journal of East China University of Science and Technology(Natural Science Edition);2007-04
6 LI Shou-jun,TAO Chun-hui,BAO Geng-sheng(Key Laboratory of Submarine Geosciences,SOA,Second Institute of Oceanography,Hangzhou Zhejiang 310012,China);INS/USBL Underwater Navigation System Based on Kalman Filter[J];Ocean Technology;2008-03
7 GAO Wei-guang1,2,CUI Xian-qiang3(1.Institute of Surveying and Mapping,Information Engineering University,Zhengzhou 450052,China; 2.61081 Troops,Beijing 100094,China; 3.Xi'an Research Institute of Surveying and Mapping,Xi'an 710054,China);An Iterated Filtering for GPS/INS Integrated Navigation System[J];Journal of Zhengzhou Institute of Surveying and Mapping;2007-06
8 LIANG Zhi-wei MA Xu-dong DAI Xian-zhong FANG Fang(Key Laboratory of Measurement and Control of Complex Systems of Engineering of Ministry of Education,School of Automation,Southeast University,Nanjing 210096,China);Distributed-Perception-Based Simultaneous Localization and Mapping for Mobile Robots[J];Robot;2009-01
9 WANG Ke WANG Wei ZHUANG Yan 1.Research Center of Information and Control,Dalian University of Technology,Dalian 116024,P.R.China;A MAP Approach for Vision-based Self-localization of Mobile Robot[J];Acta Automatica Sinica;2008-02
10 SHI Xing-xi1,2,ZHAO Chun-xia2 (1. College of Sciences,Nanjing University of Science and Technology,Nanjing 210094; 2. College of Computer,Nanjing University of Science and Technology,Nanjing 210094);SLAM Algorithm Framework of Mobile Robot Based on Probability[J];Computer Engineering;2010-02
China Proceedings of conference Full-text Database 1 Hits
1 Wang Peng Li Shu-Jie Chen Zong-Hai (Department of Automation,University of Science and Technology of China,Anhui,Hefei,230027);Reasoning and Localization of Mobile Robots Based on Probability of Gray Number[A];[C];2010
【Secondary Citations】
Chinese Journal Full-text Database 1 Hits
1 CHANG Qing,ZHENG Ping fang,LIU Zhong kan,ZHANG Qishan (Department of Electronic Engineering,Beijing University of Aeronautics and Astronautics,Beijing 100083,China);The Study of Data Fusion Algorithm of GPS/DR Integrated Vehicular Navigation System[J];JOURNAL OF CHINA INSTITUTE OF COMMUNICATIONS;2000-02
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved