摘要： 通过分析GPS定位误差的统计特性，可将GPS定位误差作为二阶Markov随机过程处理。该文结合载体的Singer模型，利用扩展Kalman滤波算法，对系统状态进行估计。试验结果表明，利用扩展Kalman滤波算法比标准Kalman滤波算法在定位精度上有较大程度的提高，对于低动态用户消除相关误差的影响具有一定应用价值。

关键词: GPS定位, 定位误差, Markov过程, 扩展Kalman滤波

Abstract: By analyzing its statistical characteristic, GPS positioning error can be described approximately as two–order Markov process. With the extended Kalman filter introduced, the system status is estimated effectively on the basis of the Singer model of the vehicle. Simulation result shows that the precision of GPS positioning based on extended Kalman filtering is much higher than that based on standard Kalman filtering. So it can be used in eliminating correlative error in low dynamic condition.

Key words: GPS, positioning error, Markov process, extended Kalman filtering

中图分类号: 

• TP391