改进的迭代EKF算法在伪卫星定位中的应用  

The improved IEKF algorithm for pseudolite positioning system

作　　者：高为广[1] 潘娜娜[2] 张晓东[3] 

机构地区：[1]解放军信息工程大学测绘学院 [2]中国矿业大学资源与安全工程学院,北京100083 [3]西安测绘研究所,西安710054

出　　处：《测绘科学》2008年第4期73-75,共3页Science of Surveying and Mapping

基　　金：国家自然科学基金资助(40274002和40474001)

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。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 algo- rithm, 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.

关 键 词：伪卫星 扩展Kalman滤波 迭代扩展Kalman滤波 抗差估计 

分 类 号：P228[天文地球—大地测量学与测量工程]