Software Design of EKF Algorithm for Embedded GPS/DR Vehicle Integrated Navigation System

MA Hong-jiao1,2, HU Yong-hui1, WU Jian-feng1,2, HOU Lei1,2

(1. National Time Service Center, Chinese Academy of Sciences, Xi’an 710600, China;

2. Graduate University of Chinese Academy of Sciences, Beijing 100039, China)

Abstract: The GPS/DR (global position system/dead reckoning) integrated system can improve the reliability of the positioning data in virtue of advantage complementation. A software design of the extended Kalman filtering(EKF) algorithm for the embedded GPS/DR vehicle integrated navigation system is introduced. The gross errors in the navigation data are detected and removed based on statistic theory, and the navigation parameters are obtained with the extended Kalman filtering algorithm in real time. The GPS/DR vehicle integrated navigation system with EKF is advantageous to the stability and reliability of the navigation information and beneficial to real-time navigation.

Key words: GPS/DR; extended kalman filter (EKF); integrated navigation