一种改进的抗差Kalman滤波方法在精密单点定位中的应用

An Improved Robust Kalman Filtering and Its Application in PPP

摘要: 分析了未能探测到的小周跳或粗差对GPS精密单点定位的影响,提出了一种改进的抗差Kalman滤波方法。该方法通过相位观测值验后残差分析,对传统抗差方案中等价权为0的情况进行周跳处理,能同时兼顾相位观测值中的粗差和小周跳问题。利用实测数据和模拟数据进行实验,结果表明,该方法不但可以显著改善未能探测的周跳对于定位结果的影响,同时避免了传统抗差方案中出现的后续历元相位残差持续增大的情况。

Abstract: TheimpactofsmallundetectedcyclesliporoutliersonprecisepointpositioningisdiscussedandanimprovedrobustKalmanfilteringisproposed.Thenewmethodcandealwithbothsmallcycleslipandoutlierswellthroughanalyzingtheposterioriphaseresiduals.Forphaseobservationswithze roweightintraditionalrobustscheme,wereinitializeitsambiguityandkeepitsoriginalweight.Andforthosemaybecontaminatedbygrosserror,weloweritsweightandenlargethevarianceofitsam biguity.Bothobserveddataandsimulateddatatestsshowthatthenewmethodcannotonlyimprovethepositioningresultssignificantly,butalsoavoidthebadinfluenceofsmallundetectedcycleslip,whichmaycausethecontinuallyincreasementofphaseobservationresidualsinsubsequentepochs.犓犲狔狑狅狉犱狊：ＰＰＰ；ｒｏｂｕｓｔｅｓｔｉｍａｔｉｏｎ；Ｋａｌｍａｎｆｉｌｔｅｒｉｎｇ；ｃｙｃｌｅｓｌｉｐｄｅｔｅｃｔｉｏｎ