抗差Helmert方差分量估计在Multi-GNSS中的应用  

Robust Helmert Variance Component Estimation in the Application of Multi-GNSS

作　　者：李飞[1,2] 苗岳旺 詹婷婷 潘映峰 LI Fei;MIAO Yue-wang;ZHAN Ting-ting;PAN Ying-feng(Southeast University,Nanjing Jiangsu 210000,China;Troops 61175,Nanjing Jiangsu 210000,China;Xi′an Mapping Terminus,Xi′an Shanxi 710054,China;Anqing Normal University,Anqing Anhui 246000,China)

机构地区：[1]东南大学,江苏南京210000 [2]61175部队,江苏南京210000 [3]西安测绘总站,陕西西安710054 [4]安庆师范大学,安徽安庆246000

出　　处：《现代测绘》2022年第4期8-11,共4页Modern Surveying and Mapping

基　　金：江苏省研究生科研与实践创新计划项目(SJCX21_0067)。

摘　　要：针对Multi-GNSS多星座数据融合中,系统精度差异和观测量粗差等因素对导航定位精度产生的影响,利用赫尔默特(Helmert)方差分量严密公式对任一时刻3种卫星导航系统之间的权比进行了计算,基于IGG3对BDS、GPS、GLONASS的伪距观测量进行了抗差估计。采集BDS/GPS/GLONASS数据,并分别采用1∶1∶1的等权比法、Helmert方差分量估计法和抗差Helmert方差分量估计等方法进行数据融合,计算得到各个系统X、Y、Z方向的误差,位置精度因子和均方根误差。实验表明:抗差Helmert方差分量估计法不仅能够抵抗观测值中的粗差,而且能够合理分配观测值的权比,可取得较好的导航精度。该方法为提高基于Multi-GNSS的导航定位精度提供了参考。In the multi-GNSS multi-constellation data fusion,the influence of the system precision difference and the gross difference of observation amount on the navigation and positioning accuracy was investigated.The Helmert variance component rigorous formula was used to calculate the weight ratio among three satellite navigation systems at any time.Based on IGGⅢ,robust estimation of pseudometric observations of BDS,GPS and GLONASS is carried out.BDS/GPS/GLONASS data were collected,and 1:1:1 equal weight ratio method,Helmert variance component estimation method and robust Helmert variance component estimation method were used for data fusion,and the X,Y,Z direction errors,position accuracy factor and root mean square error of each system were calculated.The experimental results show that the robust Helmert variance component estimation method can not only resist the gross errors in the observed values,but also reasonably allocate the weight ratio of the observed values,and achieve better navigation accuracy.This method provides a reference for improving the navigation and positioning accuracy based on multi-GNSS.

关 键 词：组合定位 HELMERT方差分量估计 抗差Helmert方差分量估计 

分 类 号：P228.4[天文地球—大地测量学与测量工程]