Chng 3

TH NGHIM B LC KALMAN CHO MY THU GPS

3.1. M t iu kin th nghim v d liu gc
Qu trnh o v thu thp d liu c tin hnh trn mt on ng
sng Hng c chiu di 5 km (hnh 3.1).

Hnh 3.1. Qu ng th nghim

on ng c la chn th nghim v:
on ng c nhiu v tr cong gip th nghim kh nng c lng ca
b lc Kalman vi mc tiu c ng;
Cao hn a hnh xung quanh, t b nh hng bi cy ci, cng trnh, nh
cao tng;
Cc v tr b che khut c xc nh trc.

Qu trnh o c thc hin trong iu kin thi tit bnh thng, thi gian
o l 10 pht, vn tc i chuyn trung bnh my o l 22 km/h . D liu my thu
c ghi li theo chun NMEA chun d liu ph bin nht ca cc my thu
GPS, cc thng s c ghi li ti mi im o bao gm: thi gian, kinh , v ,
cao, s v tinh ...

Hnh 3.3. Kt qu o ti im ban u

D liu thu t my thu GPS c lu li di dng file v a ln my tnh

ti hin v phn tch. Di y l v d cc s liu o c:

Hnh 3.2. Bng kt qu o ti 1 s im

Trong cc tham s nh sau:
- Time: Thi im thu;
- Latitude: V im kho st;
- Longitude: Kinh im kho st;
- E(m): cao so vi mc nc bin, n v mt;
- S(km/h): Vn tc tc thi ca my thu ti im kho st, n v km/h;
- H(): Gc to bi phng di chuyn tc thi (ti im kho st) vi phng Bc,
n v ();
- Sat (satelite): S v tinh kt ni c;
- HDOP (Horizon Dilution of Precision): mt chnh xc theo phng ngang

Hnh 3.2. Kt qu o
D liu o nhn c l khng lin tc, thng xuyn b gin on do
nhng thi im s tn hiu v tinh bt c khng s lng ti thiu cn thit.
Trong chng ny, chng ta s s dng b lc Kalman trn d liu thu c
tng chnh xc v c lng y qu o chuyn ng ca i tng.

3.2. Tnh ton tham s b lc Kalman cho d liu GPS

thit k mt b lc Kalman ng dng cho mt i tng c th, chng ta
cn xc nh m hnh ton hc ca mc tiu v qu trnh o. Chng ta c th a
ra cc thong s ca b lc nh sau:
- Coi qu trnh o ta GPS l qu trnh o 2 gi tr (kinh v v ), chng ta s
khng xem xt cc d liu khc nh thi gian, cao, vn tcn v o l ,
tuy nhin tin li trong qu trnh tnh ton, ta c th chuyn v n v o l mt
trong mt phng -cc, cc gi tr sau y cng s c tnh theo n v mt. Ta
c vector trng thi ca i tng nh sau:

[]

zx
z
X= y
vx
vy

- 2 gi tr c o l zx v zy, cn gi tr vx v vy l cc gi tr th cp, nh vy ta c
ma trn quan st nh sau:

H= 1 0 0 0
0 1 0 0

- M hnh c ng ca mc tiu c xc nh theo m hnh di chuyn ca cc

phng tin giao thng, c gia tc ti a 0.4G(~4m/s2). Sau mi chu k o l 1
giy, sai s do s c ng ca i tng c th hin nh sau:

0
0
Q=
0
0

0 0 0
0 0 0
0 16 0
0 0 16

- M hnh chuyn ng ca i tng l chuyn ng u vi vn tc gn nh

khng i nhng hng di chuyn c th thay i. Chng ta coi di vector vn
tc gn nh khng i, cn gc hng di chuyn () thay i tuyn tnh. c
lng qu o i tng ta dng ma trn chuyn i Jacobi nh sau:

0
A= 0
0
0

0 cos ( )
0 sin ( )
0 cos ( )
0 sin ( )

sin ( )
cos ( )
sin ( )
cos ( )

Trong = k - k-1; l lch v hng ca vector vn tc so vi ln o

trc . Gi tr c lng sau mi ln o s c cp nht theo cng thc:
= AX
- Hai gi tr o l zx v zy l c lp, khng ph thuc ln nhau gi tr hip phng
sai ca chng l 0. Sai s lch chun ca thit b thu GPS l khong 3m,

phng sai ca tng gi tr o c lp l nh vy ma trn hip phng sai c dng

nh sau:

[ ]

R= 9 0
0 9