GPS导航中的抗差自适应Kalman滤波算法

GPS导航与定位的质量取决于对动态载体函数模型和随机模型的认知。本文首先基于机动载体的当前统计模型 ,设计了离散系统的Kalman滤波器 ,进而基于方差分量估计给出了一种适合GPS动态定位的抗差自适应卡尔曼滤波算法。该算法模型简单 ,实时性好。实测数据计算结果表明 ,滤波导航解能有效地控制观测异常和动态扰动异常对导航解的影响 ,使导航解更能反映导航目标的真实情况

The adaptive robust kalman filtering algorithm in GPS kinematic positioning

The quality of GPS navigation and positioning lies on the detecting of the functional models and random models.Firstly a linear adaptively robust Kalman filter based on the current statistical model and variance component estimation to process kinematic positioning data is built.It is shown,by derivations and calculations,that the new arithmetic can not only improve the filtering estimation accuracy,but also control the influences of measurement outliers and the disturbances of the dynamical model.The new algorithm gives more actual and reliable parameter estimates of the maneuvering vehicles.