一种新的综合Kalman滤波及其在星载GPS 低轨卫星定轨中的应用

针对将Kalman滤波方法应用到星载GPS定轨时，由于动态噪声和观测噪声确定不准而造成滤波的发散、污染观测值造成Kalman滤波估值的扭曲及计算舍入误差可能带来协方差阵的不正定性等缺陷，提出了一种新的综合Kalman滤波方法。该方法用拟准检定法准确地探测和修正量测方程中存在的粗差；用UD分解算法克服了数值的不稳定性，改进了计算精度；用Sage自适应滤波器克服滤波器的发散。算例结果表明，这种综合卡尔曼滤波方法具有数值稳定性好、较强的自适应性和较好地削弱粗差影响等优点。

A Comprehensive Kalman Filtering and Its Application to GPS-based Orbit Determination for LEOs

In applying typical Kalman filtering technique to the optimal estimation of motion state of LEOs, there are some limitations, such as divergence of filter because of inaccurate of dynamic noise and observation noise, distortion of estimation of Kalman filter caused by measurement pollution and being not positive definite of covariance matrix due to computing rounding errors. In order to cope with these limitations, a comprehensive Kalman filter is presented in this paper. This filter is a combination of adaptive UD decomposition Kalman filter with QUAD method. It applies the QUAD method to detect and correct the gross errors in observations, uses UD decomposition technique to improve computation precision and overcome the instability of filter caused by instability of values.