一种基于卡尔曼滤波处理的北斗卫星无源组合导航自适应野值剔除方法
doi: 10.3724/SP.J.1146.2007.00163
An Adaptive Outlier Algorithm Based on Kalman Filtering for Beidou Satellite Passive Combination Navigation
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摘要: 在组合卫星导航定位中，由于导航接收机存在各种噪声和干扰，使得伪距出现较大的变动，直接导致定位结果出现野值。本文在卡尔曼滤波技术的基础上，提出了一种自适应野值剔除方法，对动态数据野值判断、识别与剔除，有效地抑制卫星导航中动态数据中的野值对滤波的影响。Abstract: In Kalman filtering applications to combination satellite navigation the observation values including outliers are important effect on optimal filtering.The outliers affect the position filtering accuracy and make estimation inaccurate. In this paper,an outlier decision based on adaptive robust Kalman filtering is presented,which can keep orthogonal properties of innovation sequence.Simulation results show that the modified algorithms are effectively resistant to outliers in sampling date.
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