A Research of Dynamic Cooperative Localization System via Extended Kalman Filter

• 作 者: KeMingxing[1]LvJing[1]ZhouXuan[2]TongKaixiang[1]ZhuMing[1]
• 机 构: College of Communications Engineering,PLA University of Science and Technology,Nanjing,Jiangsu,21000
• 出 处: 第六届中国卫星导航学术年会
• 发表日期: 2015年期

　　The Global Navigation Satellite System (GNSS) is widely used in navigation and positioning system.While in some GNSS-challenged environments,such as urban canyons,dense foliage and building block,it will fail to guarantee the service quality or can’t provide service at all.Several satellite enhanced means were presented to solve such problem and among them,the cooperative localization has great prospective as it can reduce the dependence of infrastructure.The key of the cooperative localization is the algorithm.This paper established an equation of the system based on a Position-Velocity-Time (PVT) model and employed the extended Kalman filter algorithm to estimate the user’s location and velocity in a dynamic cooperative localization system.This paper gave out the detailed derivation process and built the model though the three-dimension position of each satellite generated by software.The simulation results show that the algorithm can track the path of dynamic users and effectively estimate the user’s velocity.