基于变分贝叶斯自适应鲁棒滤波的动对动相对定位算法  

Dynamic to dynamic relative positioning algorithm based on variational Bayesian adaptive robust filtering

作　　者：蔡巍 陈明剑[1] 邓垦 王洋 沈洋 张擎天 CAI Wei;CHEN Mingjian;DENG Ken;WANG Yang;SHEN Yang;ZHANG Qingtian(Institute of Geospatial Information,Information Engineering University,Zhengzhou 450001,China;Xi′an Division of Surveying and Mapping,Xi′an 710054,China;77120 Troops,Chengdu 610000,China;Henan Beidou Satellite Navigation Platform Co.Ltd,Zhengzhou 450001,China)

机构地区：[1]信息工程大学地理空间信息学院,郑州450001 [2]西安测绘总站,西安710054 [3]77120部队,成都610000 [4]河南北斗卫星导航平台有限公司,郑州450001

出　　处：《中国惯性技术学报》2023年第8期760-767,776,共9页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(42104034)。

摘　　要：针对两个相对运动目标之间基线矢量实时变化导致整周模糊度难以固定,从而导致定位精度偏低的问题,提出一种基于变分贝叶斯自适应鲁棒滤波的北斗四频动对动相对定位算法。结合四频中存在电离层延迟和观测噪声因子小且具有整数特性,建立“宽巷+窄巷+伪距”的无几何模糊度解算模型。设计一种基于变分贝叶斯的自适应鲁棒滤波算法,利用M估计鲁棒化处理观测中的野值,利用变分贝叶斯近似估计时变的观测噪声和系统状态量,以逼近真实后验分布。最后采用最小二乘模糊度降相关平差法进行模糊度固定。实验结果表明,所提算法的模糊度固定率达到99.7%以上,E、N和U三个方向的定位精度均达到厘米级,实现了高精度的动对动相对定位。Aiming at the problem that the integer ambiguity is difficult to be fixed due to the real-time change of the baseline vector between two relatively moving targets,which leads to low positioning accuracy,a Beidou four-frequency dynamic to dynamic relative positioning algorithm based on variational Bayesian adaptive robust filtering is proposed.Using the combination of minimal ionospheric delay,small observation noise factor and integer characteristics in four frequencies,a geometric-free(GF)ambiguity resolution model of"wide lane+narrow lane+pseudo-range"is established.An adaptive robust filtering algorithm based on variational Bayesian is designed,which uses M-estimation to process the observation outliers robustly,and uses variational Bayesian to approximate the time-varying observation noise and the system state to approximate the true posterior distribution.Finally,the least-square ambiguity decorrelation adjustment(LAMBDA)method is used to fix the ambiguity.The experimental results show that the ambiguity fixation rate of the proposed algorithm is more than 99.7%,and the positioning accuracy of E,N and U directions reaches the centimeter level,which achieves high-precision motion-to-motion relative positioning.

关 键 词：北斗导航系统 动对动 模糊度 变分贝叶斯 最小二乘模糊度降相关平差法 

分 类 号：P228.1[天文地球—大地测量学与测量工程]