在实时单点定位中基于残差信息的改进抗差滤波方法

在利用卫星导航定位系统进行单点导航定位时,为了进一步提高导航定位的精度、实时性和可靠性,针对实时观测信息中存在粗差问题,基于残差分析理论,比较分析了最小二乘法、M估计、抗差滤波估计方法在GNSS单点导航定位中参数估计问题。在此基础上,针对观测量与动力学模型不准确的情况,利用残差信息,构建了有效的改进的基于残差信息的抗差滤波。其特点是观测信息误差比较大的情况下不会导致滤波精度明显下降。在GPS单点导航定位解算中,编程并计算,通过比较分析,结果验证了构建的滤波在单点定位中抗差的优越性,并在导航定位算法选择上得到一些有益结论。

Improved robust filtering based on residuals in real time single point positioning

For improving the accuracy, real-time property and reliability in GNSS real time single point navigation and positioning, three algorithms(Least squares estimation, M estimation and robust Kalman filter estimation) based on residual analysis for gross errors in real time observation were analyzed and compared. Based on this, a new improved adaptive robust filtering using residuals information is constructed for the uncertainty of observation and dynamics model. Its advantage is that the accuracy of the filtering isn't decreased when the observed information error is relatively large. The programming and computing are made using these ways in GNSS single point positioning calculation. By comparing and analyzing, the results show the superiority of the filtering in single point positioning, and certain beneficial conclusions in selecting navigation algorithms are obtained.