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提出了带有速度观测量的GPS动态滤波方法，从而解决了载体机动时滤波器的动态跟踪问题．首先采用描述机动载体运动的“当前”统计模型，建立了GPS动态定位滤波的系统方程，和带有速度观测量的观测方程，并进行了系统的可观测性分析．然后进行了引入速度观测量提高跟踪精度的理论分析．最后通过计算机仿真结果验证了增加速度观测量可有效地提高滤波器的跟踪精度。
A GPS dynamic filtering method with velocity observer is proposed to solve the problem of dynamic tracking of the filter when the carrier maneuvering. Firstly, the “current” statistical model describing the movement of the mobile carrier is used to establish the system equations of GPS dynamic positioning filtering and the observation equation with the velocity observation, and the observability of the system is analyzed. Then the theoretical analysis of introducing the velocity observation to improve the tracking accuracy is carried out. Finally, the computer simulation results verify that increasing the velocity observation can effectively improve the tracking accuracy of the filter.