| 改进的迭代EKF算法在伪卫星定位中的应用 |
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| 引用本文： | 高为广,潘娜娜,张晓东.改进的迭代EKF算法在伪卫星定位中的应用[J].测绘科学,2008,33(4). |
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| 作者姓名： | 高为广 潘娜娜 张晓东 |
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| 作者单位： | 解放军信息工程大学,测绘学院,郑州,450052;61081,部队,北京,100094;中国矿业大学,资源与安全工程学院,北京,100083;西安测绘研究所,西安,710054 |
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| 摘 要： | 首先,针对伪卫星导航系统距离用户较近的特点,对伪卫星定位系统非线性观测方程的线性化进行了误差分析,指出伪卫星数据处理顾及线性化误差影响的必要性。其次,针对迭代EKF(IEKF)算法受观测信息影响较大的问题,基于观测信息等价协方差矩阵原理给出了一种改进的IEKF算法。最后,利用仿真数据验证了改进的迭代EKF算法能够较好地抑制观测信息异常对滤波解的影响。
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| 关 键 词： | 伪卫星 扩展Kalman滤波 迭代扩展Kalman滤波 抗差估计 |
The improved IEKF algorithm for pseudolite positioning system |
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| GAO Wei-guang,PAN Na-na,ZHANG Xiao-dong.The improved IEKF algorithm for pseudolite positioning system[J].Science of Surveying and Mapping,2008,33(4). |
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| Authors: | GAO Wei-guang PAN Na-na ZHANG Xiao-dong |
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| Abstract: | Firstly,the linearization error of non-linear observation equations of Pseudolite navigation system,resulting from the nearer distance between Pseudolites and users,is analyzed in detail,and the importance of considering linearization error in pseudolite data processing is pointed out.Then,the shortcomings of IEKF algorithm are also analyzed.Further more,an improved IEKF algorithm,based on the principle of equivalent covariance matrix of observational vector,is put forward.It is shown,by derivations and calculations,that the improved IEKF algorithm can not only improve the filter estimation accuracy,but also control the influences of measurement outliers. |
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| Keywords: | Pseudolite extend Kalman filter iterated extend Kalman filter robust estimation |
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