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首次设计了实现车载 Ｇ Ｐ Ｓ／ Ｄ Ｒ／地图匹配组合导航系统最优综合的联合卡尔曼滤波器，给出了滤波算法，并提出一种自适应联合卡尔曼滤波器结构及其算法。理论分析及计算机仿真结果均表明，应用该自适应联合卡尔曼滤波器可大大提高车载 Ｇ Ｐ Ｓ／ Ｄ Ｒ／地图匹配组合导航系统的定位精度及容错能力。
For the first time, a joint Kalman filter is designed to realize the optimal combination of vehicle-mounted GSP / D R / map matching integrated navigation system. The filter algorithm is given and an adaptive joint Kalman filter structure and its algorithm are proposed. The theoretical analysis and computer simulation results show that the adaptive joint Kalman filter can greatly improve the positioning accuracy and fault tolerance of vehicle-mounted GSP / D R / map matching integrated navigation system.