等价权函数为连续可变函数的抗差Kalman滤波  

The Robust Kalman Filtering with Continuous Variable Equivalent Weight Function

作　　者：蔡奇[1] 刘宁[1] 戴吾蛟[1] 杨德地 

机构地区：[1]中南大学地球科学与信息物理学院,长沙市麓山南路932号410083

出　　处：《大地测量与地球动力学》2015年第3期436-439,444,共5页Journal of Geodesy and Geodynamics

基　　金：中南大学自由探索计划(2282013bks148)

摘　　要：设计了一种等价权函数为连续可变函数的抗差Kalman滤波,通过与现有常用抗差Kalman滤波方案比较,新设计的抗差权方案具有更优的抗差效果。The robust Kalman filtering can resist errors from observation data or inaccurate state model that depend on the reasonability of equivalent weight. Usually the existed equivalent weight functions are defined as a segment function, which involves the selection of critical values for segment weight- decreasing. The selection is generally based on the confidence level of error tests or by experience, and it will never be changed once fixed. In order to further improve the efficiency of robust estima- tion, a new robust Kalman filtering with a continuous variable equivalent weight function is designed. Comparison and analysis has also been made between the new scheme and the common scheme. It can be concluded that the new designed scheme of robust weight determination has a better robust effect.

关 键 词：KALMAN滤波 误差检验 抗差思想 等价权函数 CV模型 

分 类 号：P207[天文地球—测绘科学与技术]