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An adaptive Kalman filter algorithm for estimating the altitude of vehicle

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DOI: 10.23977/meet.2019.93762


Huang Kaida, Gao Tongyue, Yang Jia, Hu Qingxuan, Zhao Fengshou

Corresponding Author

Huang Kaida


In order to better locate the altitudeof the vehicle in complex situations such as the urban environment, a high-precision and high-reliability altitude measurement algorithm is proposed. The altitudemeasurement is carried out by using three sensors: global positioning system, barometric altimeter and inertial measurement unit. The principle and model are analyzed. The state equation and measurement equation of the altitude measurement system are established according to the kinematics and sensor measurement model. The estimateof altitude is obtained by Kalman filter method. The high-information fusion method based on adaptive Kalman filter is studied and the experiment of altitude measurement system is carried out. The experimental results show that the system is designed reasonably and the altitudemeasurement has high precision


Altitude Location, Kalman Filter, Integrated Navigation, Adaptive Kalman Filter

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