Increasing the accuracy of the positioning of the mobile platform by correcting the GPS signal Kalman filter

Sharalapov Alexander Evgenevich candidate of technical sciences, associate professor, sub-department of automation and remote control, Penza State University
Malinin Dmitry Denisovich master degree student, sub-department of automation and remote control, Penza State University

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The article considers the increase in accuracy positioning mobile platform by correcting GPS signal Kalman filter. The mobile platform is a vehicle mounted with a GPS sensor that receives geodetic coordinates. The coordinates obtained from the GPS sensor has an error which is composed of a navigation error and «multipath» distribution. In a move to the platform affect the external disturbances, which adds error in positioning the mobile platform. Proceeding from the above, for the correct navigation of mobile platforms in nondeterministic environment, you must solve the problem of filtering for the coordinates received from the GPS sensor, which is mounted on an object in motion. Filtering problem is solved by adapting the Kalman filter under specified conditions. In adapting considered perturbations acting on the platform, and the error propagation of the navigation signal. An experimental study showing the effectiveness of the adaptive filter 

mobile platform, Kalman filter, GPS