The high-precision positioning technology of intelligent vehicles mainly relies on GNSS/INS integrated navigation positioning technology, and on this basis, Kalman filtering is applied to process navigation data,Due to the limitations of traditional EKF, this article proposes the ST-EKF satellite integrated navigation technology and establishes corresponding mathematical models through algorithmic calculations. These models are used for prediction and measurement updates, and experimental data is obtained for comparison. The accuracy of ST-EKF satellite integrated navigation positioning is significantly better than that of traditional EKF satellite integrated.
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Yuan et al. (2024) studied this question.
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