基于载波相位平滑伪距的卡尔曼滤波定位方法  

An Algorithm of Positioning with Kalman Filter Based on Carrier Phase Smoothed Pseudo Range

作　　者：李朋[1] 徐博[1] 刘文祥[1] 欧钢[1] 

机构地区：[1]国防科学技术大学电子科学与工程学院卫星导航研发中心,湖南长沙410073

出　　处：《全球定位系统》2013年第4期16-19,27,共5页Gnss World of China

摘　　要：结合载波相位平滑伪距技术和卡尔曼滤波定位解算方法,可以更好的抑制随机误差及各误差残差对定位结果的影响。利用实测数据对基于载波相位平滑伪距的卡尔曼滤波定位性能进行了研究。实验表明:该方法得到的定位结果的精度及稳定度得到提高,其定位误差方差比未平滑伪距最小二乘方法最大减小了约2.9m2,比平滑伪距最小二乘方法最大减小了约0.9m2,比未平滑卡尔曼滤波方法最大减小了约1.6m2.Considering of both carrier phase smoothed pseudo range and Kalman filter, the influence of pseudo range error on positioning will be greatly decreased. An algorithm of positioning with Kalman filter based on carrier phase smoothed pseudo range is researched in this paper. Experiments show that the algorithm greatly improves the positioning accuracy and stability. Compared to positioning with LMS （least mean square） based on original pseu-do range, the variance decreases by 2. 9 m^2; Compared with LMS based on carrier phase smoothed pseudo range, the variance decreases by 0. 9 m^2; compared with Kalman filter based on original pseudo range , the variance decreases by 1.6 m^2.

关 键 词：载波相位平滑 卡尔曼 最小二乘 随机误差 

分 类 号：P228.4[天文地球—大地测量学与测量工程]