Vehicular GPS/DR navigation with environmental-adaptive kalman filter gain

摘要

A method is provided for estimating position using an integrated Global Navigation Satellite System (GNSS)/dead reckoning (DR) (GNSS/DR) navigation system in a vehicle. The method includes: determining a current environment of the vehicle from a plurality of environments based on at least one parameter; calculating a Kalman filter-related parameter based on the determined current environment, wherein the Kalman filter-related parameter corresponds to a representation of weight given to GNSS navigation and DR navigation relative to one another; and estimating a position of the vehicle based on the calculated Kalman filter-related parameter utilizing a Kalman filter.

主权项

1. A method for estimating position using an integrated Global Navigation Satellite System (GNSS)/dead reckoning (DR) (GNSS/DR) navigation system in a telematics-equipped vehicle, the method comprising:
determining, by a processor of the vehicle, a current environment of the vehicle from a plurality of environments based on at least one parameter, wherein each of the plurality of environments corresponds to a different weight being given to GNSS navigation and DR navigation relative to one another; calculating, by the processor, a Kalman filter-related parameter, wherein calculating the Kalman filter-related parameter includes applying an adjustment to the weight given to GNSS navigation and DR navigation relative to one another based on the determined current environment; and estimating, by the processor, a position of the vehicle, based on the calculated Kalman filter-related parameter, utilizing a Kalman filter; wherein the Kalman filter-parameter is an environment-based Kalman filter gain corresponding to the Kalman filter; and wherein the calculating comprises:
determining a base Kalman filter gain;adjusting the base Kalman filter gain based on the determined current environment so as to obtain the environment-based Kalman filter gain.