改进卡尔曼滤波的卫星导航高精度定位方法研究  

Research on high precision satellite navigation positioning method based on improved Kalman filter

作　　者：胡嵘 漆珊 HU Rong;QI Shan(Geographic Information Engineering Brigade of Jiangxi Provincial Geological Bureau,Nanchang,Jiangxi 330001,China)

机构地区：[1]江西省地质局地理信息工程大队,江西南昌330001

出　　处：《测绘标准化》2025年第1期34-39,共6页Standardization of Surveying and Mapping

摘　　要：为了提高卫星导航的定位精确度,降低定位误差,本文提出了一种以改进卡尔曼滤波算法为基础的新卫星定位方法。首先,本方法采用支持向量机技术,精准挑选出无伪距干扰的直达信号,这些信号是确定接收机三维坐标的关键数据;其次,针对卡尔曼滤波算法在应用过程中,卫星导航状态转移噪声协方差矩阵的估计结果精准性较差的问题,本文采用粒子群算法改进卡尔曼滤波算法,将卫星导航状态转移噪声协方差矩阵描述为粒子,通过获取全局最优解得到更精准的导航定位;最后,终端接收机根据接收机的三维坐标、时钟偏差以及频率漂移参数,采用改进的卡尔曼滤波算法计算得到定位坐标。研究结果显示,定位误差在X、Y、Z三个方向上的结果均在±5m以内,高程定位误差均在±3.5m以内,说明该方法的定位误差被精确地控制在精度要求范围内,验证了本文所提方法能够完成导航载体所在位置的精准定位,并提高了定位精度。To improve the positioning accuracy of satellite navigation and reduce errors,this paper proposes a new satellite positioning method based on an improved Kalman filter algorithm.Firstly,the support vector machine technology is used to precisely select direct signals free from pseudorange interference,which serves as crucial data for determining the 3D coordinates of the receiver.Secondly,for the problems that the estimation accuracy of the satellite navigation state transition noise covariance matrix in the application of the Kalman filter algorithm is not good,a particle swarm optimization algorithm is introduced to improve the Kalman filter,so that the satellite navigation state transition noise covariance matrix can be described as particles,and a more precise navigation positioning can be achieved by obtaining the global optimal solution.Finally,the terminal receiver coordinates are calculated using the improved Kalman filter algorithm based on the 3D coordinates,clock bias,and frequency drift parameters of the receiver.The experimental results show that the positioning errors in the X,Y,and Z directions are all within±5 m,and the vertical positioning errors are within±3.5 m,indicating that the positioning errors by this method can be precisely controlled within the required accuracy.The method proposed in this paper can achieve precise positioning of the location of the navigation carrier,and improve positioning accuracy.

关 键 词：卫星导航定位 改进卡尔曼滤波 支持向量机 时钟偏差 

分 类 号：P228[天文地球—大地测量学与测量工程]