Method for estimating position of vehicle using Interacting Multiple Model filter

摘要

PURPOSE: A method for estimating position of a vehicle using interacting multiple model filter is provided to estimate the position of a vehicle at place where GPS signal is not smoothly received. CONSTITUTION: The initial values in the kinetic model and the dynamic model of a vehicle are inputted(S10). The initial values in the kinetic model and the dynamic model are mixed and the mixed values in the kinetic model and the dynamic model are calculated(S20). The mixed value of the dynamic model is inputted to the model extending Kalman filter and a kinetic model estimated value is calculated(S30). A measured value indicating the current position of the vehicles is calculated. A dynamic model filtering value is calculated and kinetic model filtering value is calculated(S40). A final compensated value is calculated by mixing the dynamic model filtering value and the kinetic model filtering value(S60).