一种顾及有色噪声的四星座GNSS动态导航滤波算法  

A Filtering Algorithm for Quad-Constellation GNSS Kinematic Navigation with Consideration of Colored Noise

作　　者：孙清峰 蔡昌盛[1] 崔先强[1] 易重海[1] SUN Qingfeng;CAI Changsheng;CUI Xianqiang;YI Zhonghai(School of Geosciences and Info-Physics,Central South University,932 South-Lushan Road,Changsha 410083,China)

机构地区：[1]中南大学地球科学与信息物理学院

出　　处：《大地测量与地球动力学》2019年第6期625-628,共4页Journal of Geodesy and Geodynamics

基　　金：国家重点研发计划(2016YFB0501803);国家自然科学基金(41674039,41674012)~~

摘　　要：经典Kalman滤波要求噪声是高斯白噪声,而动态GNSS定位的观测误差和状态预测误差往往是有色噪声。本文提出一种简便的有色噪声函数模型拟合滤波算法,采用前面历元的观测残差和状态残差建立有色噪声模型,削弱有色噪声对动态导航解算的影响。采用四星座GNSS接收机观测数据进行动态导航实验,结果表明,顾及有色噪声的动态导航滤波算法比未顾及有色噪声的经典Kalman滤波算法定位精度更高,三维位置精度提升9%以上。Classic Kalman filtering requires noise to be Gaussian white noise.However,the observation error and the state prediction error in GNSS kinematic positioning are colored noise.This paper establishes the colored noise model by using past observation residuals and state residuals in order to weaken the effects of colored noise on kinematic navigation solutions.Quad-constellations GNSS receiver measurements are used for a kinematic navigation experiment,and the results show that the algorithm can effectively improve positioning accuracy,as compared with the classic Kalman filtering algorithm with no consideration of the colored noise.The improvement rate of three-dimensional position accuracy is over 9%.

关 键 词：有色噪声 动态导航 滤波算法 GNSS 

分 类 号：P228[天文地球—大地测量学与测量工程]