| 后向平滑与抗差估计融合的SRCKF滤波 |
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| 引用本文： | 孙鹏,赵长胜,谭兴龙,张立凯.后向平滑与抗差估计融合的SRCKF滤波[J].测绘通报,2017(4). |
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| 作者姓名： | 孙鹏 赵长胜 谭兴龙 张立凯 |
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| 作者单位： | 江苏师范大学地理测绘与城乡规划学院,江苏徐州,221116 |
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| 基金项目： | 江苏省自然科学青年基金，江苏师范大学研究生科研创新计划重点项目 |
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| 摘 要： | 将后向平滑平方根容积卡尔曼滤波用于GPS动态单点定位数据处理,并探讨了粗差对后向平滑滤波的影响。借鉴经典卡尔曼滤波抗差估计思想,给出平方根容积卡尔曼滤波的抗差算法以抵抗量测粗差,而当判断不含粗差时使用后向平滑算法,在有效提高滤波精度的同时避免了抗差滤波对每个历元都需进行迭代运算。实测GPS动态数据验证了算法的有效性。
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| 关 键 词： | 非线性滤波 平方根容积卡尔曼滤波 抗差滤波 后向平滑 |
Square-root Cubature Kalman Filter with Backward-smoothing and Robust Estimation |
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| SUN Peng,ZHAO Changsheng,TAN Xinglong,ZHANG Likai.Square-root Cubature Kalman Filter with Backward-smoothing and Robust Estimation[J].Bulletin of Surveying and Mapping,2017(4). |
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| Authors: | SUN Peng ZHAO Changsheng TAN Xinglong ZHANG Likai |
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| Abstract: | Backward-smoothing square-root cubature Kalman filter(BS-SRCKF) is used to caculate observation data of GPS dynamic single point positioning,and the gross etaors' bad influence on backward-smoothing filter is analyzed in this article.In order to reduce gross errors' impacts,robust SRCKF is put forward referring to robust Kalman filter.And when coarse errors don't exist,backward-smoothing filter can be used to improve the precision of the results and avoid iterative computation if using robust filter each epoch.Measured data is adopted to prove that the algorithm is effective. |
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| Keywords: | nonlinear filtering SRCKF robust filter backward smoothing |
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