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建立了车载GPS／DR组合导航系统非线性自适应卡尔曼滤波模型及算法．首次提出了依据PDOP等GPS定位系统的输出参数，自动调整R，Q的大小，从而自适应地调整组合导航系统模型性能的方法，使得模型能够适应各种情况，具有“智能”模型的性质．计算机仿真表明应用该模型具有良好效果．
A nonlinear adaptive Kalman filter model and algorithm for vehicle GPS / DR integrated navigation system are established. For the first time, the method of adaptively adjusting the performance of the integrated navigation system model based on the output parameters of the GPS positioning system such as PDOP and automatically adjusting the sizes of R and Q makes the model adapt to various situations and has the property of “intelligent” model. Computer simulation shows that the model has good effect.