Research on Filter Algorithm of GPS/DR Integrated Navigation System

In this paper, the design of the GPS/DR integrated navigation system is presented. Based on the current statistical model of moving target, the mathematical model is founded for the acceleration of vehicle and the main errors which affect the positioning accuracy of the integrated navigation system. The introduction of the DR subsystem errors in the filter caused the problem of the unsatisfactory filtering effect. We approve a new data fusion algorithm. The technique of measurement preprocessing is introduced. Thus the algorithm is analyzed in standard filtering, UD factorization filtering and sequence filtering. Finally the above algorithm is validated by the practical dynamic experiment", "and the corresponding conclusions are made.