Research of an adaptive Kalman filtering in road spectrum

For the purpose of filtering road spectrum this paper proposed an adaptive Kalman filtering (AKF) algorithm based on accurate autoregressive (AR) model. The proposed AKF can overcome the disadvantages such as complicated computation process and poor real-time performance when applying normal AKF. The algorithm can implement AKF by adjusting gain matrix K k on the base of innovation. The process of proposed algorithm is simpler than normal AKF, and the simulation result imply a higher filer accuracy and lower filtering error, which suggest that the algorithm is correct and pretty effective.