一种改进EKF算法在接收机PVT解算中的应用  

An Improved EKF Algorithm and Its Application in PVT Decoding for Receiver

作　　者：吴华龙[1] 谢刚[1] 程兰[1] 

机构地区：[1]太原理工大学信息工程学院,山西太原030024

出　　处：《计算机仿真》2014年第6期92-96,102,共6页Computer Simulation

基　　金：国家自然科学基金(60975032);山西省太原市2011科技创新专题(110148046);山西省太原市2012年科学技术发展计划大学生创新创业专题(120164013)

摘　　要：为了提高全球定位系统(GPS)接收机定位的精度和稳定性,在对直接解算法、最小二乘法和EKF分析的基础上,提出了一种改进EKF算法并进行了仿真分析。上述算法将直接解算法、最小二乘法和EKF进行融合,改变传统卡尔曼滤波对估计状态的限制,选取各个状态的误差量作为估计量,利用测量到的伪距值估计出接收机的状态信息。当EKF出现发散或者接收机状态突然变化时,启用最小二乘法解算程序,避免了传统卡尔曼滤波方法易发散的缺点,而且提高了定位精度和稳定性。仿真结果验证了改进方法的可行性和有效性。In order to improve the accuracy and stability of positioning decoding for GPS receiver, an improved algorithm based on the analysis of the direct solution algorithm, least square method and EKF was proposed. Furthermore, a simulation analysis was carried out. The proposed algorithm which fuses the direct solution algorithm, least square method and EKF, changed the limitation of traditional Kalman filter to estimate the state and selected each state error amount as estimator, using the pseudorange measurement value to estimate the state of GPS receiver. When a divergence happens in the EKF or receiver state Changes suddenly, the algorithm enables the least - square method solver, avoiding the diverge and improving the accuracy and stability of positioning decoding. Simulation results verify the feasibility and effectiveness of the improved method.

关 键 词：全球定位系统 扩展卡尔曼滤波 定位解算 定位精度 最小二乘 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]