| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method for vehicle navigation. <P>SOLUTION: The method for vehicle navigation comprises obtaining satellite positioning data from a satellite positioning device of a vehicle, obtaining vehicle sensor data from a vehicle sensor, and combining the satellite positioning data and the vehicle sensor data by a Kalman filter to obtain a combined state vector estimate of the vehicle. The Kalman filter comprises: a first filter receiving the satellite positioning data to generate a first state vector estimate of the vehicle and a corresponding first state error covariance matrix; a second filter receiving the vehicle sensor data to generate a second state vector estimate of the vehicle and a corresponding second state error covariance matrix; and a third filter receiving the first state vector estimate, the first state error covariance matrix, the second state vector estimate, and the second state error covariance matrix to generate a combined state vector estimate and a corresponding combined state error covariance matrix. <P>COPYRIGHT: (C)2013,JPO&INPIT |
