一种基于Bancroft算法的GPS动态抗差自适应滤波

¹ 武汉大学卫星导航定位技术研究中心,武汉市珞喻路129号,430079;² 西安测绘研究所,西安市雁塔路中段1号,710054;³ 长安大学地测学院,西安市雁塔路126号,710054;⁴ 信息工程大学测绘学院,郑州市陇海中路66号,450052

基金项目: 国家自然科学基金资助项目(40274002,40474001)

详细信息

An Adaptively Robust Filter Based on Bancroft Algorithm in GPS Navigation

¹ Research Center of GNSS,Wuhan University,129 Luoyu Road,Wuhan 430079,China ;² Xi'an Research Institute of Surveying and Mapping,1 Middle Yanta Road,Xi'an 710054,China ;³ Institute of Geo-engineering and Surveying,Chang'an University,126 Yanta Road,Xi'an 710054,China ;⁴ Institute of Surveying and Mapping,Information Engineering University,66 Middle Longhai Road,Zhengzhou 450052,China

Funds: 国家自然科学基金资助项目(40274002,40474001)

摘要: 基于抗差自适应滤波的思想,结合非线性Bancroft算法的特点,提出了一种基于Bancroft算法的GPS动态抗差自适应滤波。计算表明,该算法不仅在一定程度上减弱了由于线性化忽略高次项对导航解的影响,而且再次证实抗差自适应滤波在控制扰动异常的有效性和合理性。
- GPS动态导航 /
- Bancroft算法 /
- 非线性最小二乘 /
- 自适应滤波
Abstract: An adaptively robust filter based on Bancroft algorithm and GPS two-stage filter in GPS navigation is developed,in order to control the influences of the dynamic model disturbances,nonlinear problems and outlier existing in measurements.A numerical example is given to demonstrate the ideas involved.It is shown that the new algorithm not only resists the influences of omitted high-order items on the estimated states of navigation,but also controls the outlying kinematic model errors and measurement outliers.
- GPS navigation /
- Bancroft algorithm /
- nonlinear LS /
- adaptive filter