The application of the anti-outlier Unscent Kalman filter in the integrated GPS/DR orientation

doi:10.1109/ICIE.2009.273

CORC > 兰州理工大学 > 兰州理工大学 > 土木工程学院

	The application of the anti-outlier Unscent Kalman filter in the integrated GPS/DR orientation
	Yu, Li; Jie, Cao; Chongyu, Ren
	2009
会议日期	July 10, 2009 - July 11, 2009
会议地点	Taiyuan, Shanxi, China
关键词	Data fusion Information filtering Intelligent systems Statistics Focus of researches Influencing mechanisms Intelligent transportation systems Kalman filter theory M-estimation New information Outlier Vehicle orientation
卷号	1
DOI	10.1109/ICIE.2009.273
页码	87-90
英文摘要	Vehicle orientation is one of the important technologies in intelligent transportation system and integrated GPS/DR orientation can provide location data of high precision and reliability through data fusion. Hence, at present, the integrated GPS/DR orientation system has been the focus of research at home and abroad. The present paper is on the basis of setting up the Integrated GPS/DR Orientation system model with the Unscent Kalman filter theory. For the common problem of outlier in the process of filtering, the present paper analyses the characteristic and influencing mechanism of the outlier and proposes the solution to dissolve the outlier with the corrected new information based on the M Estimation. The simulation results show that the solution proposed can effectively eliminate the negative effect of the outlier on the filter and can consequently increase the precision of the Integrated GPS/DR Orientation. © 2009 IEEE.
会议录	2009 WASE International Conference on Information Engineering, ICIE 2009
会议录出版者	IEEE Computer Society
语种	英语
内容类型	会议论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/116651]
专题	土木工程学院电气工程与信息工程学院
作者单位	College of Electrical Engineering and Information Engineering, Lanzhou University of Technology, Lanzhou Gansu 730050, China
推荐引用方式 GB/T 7714	Yu, Li,Jie, Cao,Chongyu, Ren. The application of the anti-outlier Unscent Kalman filter in the integrated GPS/DR orientation[C]. 见:. Taiyuan, Shanxi, China. July 10, 2009 - July 11, 2009.