An Improved Robust Kalman Filtering and Its Application in PPP
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Graphical Abstract
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Abstract
TheimpactofsmallundetectedcyclesliporoutliersonprecisepointpositioningisdiscussedandanimprovedrobustKalmanfilteringisproposed.Thenewmethodcandealwithbothsmallcycleslipandoutlierswellthroughanalyzingtheposterioriphaseresiduals.Forphaseobservationswithze roweightintraditionalrobustscheme,wereinitializeitsambiguityandkeepitsoriginalweight.Andforthosemaybecontaminatedbygrosserror,weloweritsweightandenlargethevarianceofitsam biguity.Bothobserveddataandsimulateddatatestsshowthatthenewmethodcannotonlyimprovethepositioningresultssignificantly,butalsoavoidthebadinfluenceofsmallundetectedcycleslip,whichmaycausethecontinuallyincreasementofphaseobservationresidualsinsubsequentepochs.犓犲狔狑狅狉犱狊：ＰＰＰ；ｒｏｂｕｓｔｅｓｔｉｍａｔｉｏｎ；Ｋａｌｍａｎｆｉｌｔｅｒｉｎｇ；ｃｙｃｌｅｓｌｉｐｄｅｔｅｃｔｉｏｎ
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