| 一种基于抗差自校正Kalman滤波的GPS导航算法 |
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| 引用本文： | 张双成,杨元喜,张勤.一种基于抗差自校正Kalman滤波的GPS导航算法[J].武汉大学学报(信息科学版),2005,30(10):881-884. |
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| 作者姓名： | 张双成 杨元喜 张勤 |
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| 作者单位： | 1. 长安大学地测学院,西安市雁塔路126号,710054
2. 西安测绘研究所,西安市雁塔路中段 |
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| 基金项目： | 国家杰出青年基金资助项目(49825107)，国家自然科学基金资助项目(40174009,40274002) |
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| 摘 要： | 为减弱异常观测值对自校正Kalman滤波精度的影响,引入抗差M估计的等价权函数,建立了抗差自校正Kalman滤波算法,并用实例进行了验证。计算表明,该自适应滤波算法在完全未知噪声统计的情况下,不仅能够自适应地求解状态参数,而且还能在一定程度上有效地抵制观测异常对导航解的影响。
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| 关 键 词： | ARMA(autoreg ressive moving average)新息模型 参数辨识器 抗差M估计 自校正滤波 |
| 文章编号： | 1671-8860(2005)10-0881-04 |
| 收稿时间： | 2005-08-01 |
| 修稿时间： | 2005年8月1日 |
An Algorithm of GPS Navigation Based on Robust Self-Tuning Kalman Filtering |
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| ZHANG Shuangcheng,YANG Yuanxi,ZHANG Qin.An Algorithm of GPS Navigation Based on Robust Self-Tuning Kalman Filtering[J].Geomatics and Information Science of Wuhan University,2005,30(10):881-884. |
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| Authors: | ZHANG Shuangcheng YANG Yuanxi ZHANG Qin |
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| Abstract: | In order to avoid estimating the noise statistics in navigation, self-tuning Kalman filtering is introduced. When the system contains outliers in navigation, the estimated state vector by self-tuning Kalman filtering is influenced. To get a reliable result, an equivalent weight based on robust M-estimator is applied in the process of self-tuning Kalman filtering; robust self-tuning Kalman filtering is then proposed in this paper. A real kinematic system is tested. It is shown by real calculation that the robust self-tuning Kalman filtering is not only adaptively estimate the state vector, but also guarantee the reliability of the kinematic state estimates. |
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| Keywords: | ARMA innovation model parameters identification robust M-estimator self-tuning filtering |
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