顾及新息向量的Sage-Husa滤波在手机GNSS定位中的应用  

Application of Sage-Husa filter considering innovation vectors in mobile phone GNSS location

作　　者：朋子涵 高成发[1] 尚睿[1] PENG Zihan;GAO Chengfa;SHANG Rui(School of Surveying and Mapping Engineering,Southeast University,Nanjing 211189,China)

机构地区：[1]东南大学测绘工程系,南京211189

出　　处：《导航定位学报》2020年第2期76-81,89,共7页Journal of Navigation and Positioning

摘　　要：针对手机精密单点定位解算时采用离散线性卡尔曼滤波方法不能充分考虑到手机数据特性,定位时可能引起误差的问题,提出利用新息向量进行手机精密单点定位的方法:给出卡尔曼滤波中新息向量的作用;并结合新息向量抗差卡尔曼滤波和Sage-Husa滤波方法,充分考虑手机观测时数据误差特点,完成手机精密单点定位。实验结果表明,相对于常规离散线性卡尔曼滤波,该方法可以提高平面外符合精度1cm、高程方向外符合精度4cm,能够达到抗差的目的。Aiming at the problem that the discrete linear Kalman filter cannot take the characteristics of mobile-phone data into consideration,which may lead to positioning errors in the precise point positioning solution of mobile phones,the paper proposed a method to do the positioning with innovation vectors:the functions of the innovation vectors in Kalman filter were given,and the innovation vector robust Kalman filter combined with Sage-Husa filter was applied for precise point positioning of mobile phones with fully considering the characteristics of data errors in mobile-phone surveying.Experimental result showed that compared with the traditional discrete linear Kalman filter,the proposed method could improve the plane accuracy by 1 cm and the elevation accuracy by 4 cm,which indicates that the method would be robust.

关 键 词：手机精密单点定位 卡尔曼滤波 新息向量 Sage-Husa滤波 抗差 

分 类 号：P228[天文地球—大地测量学与测量工程]