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《Acta Geodaetica et Cartographica Sinica》 2010-05
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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
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