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改进M估计的抗多个粗差定位解算方法

仝海波,张国柱   

  1. 国防科学技术大学
  • 收稿日期:2013-12-04 修回日期:2013-01-31 出版日期:2014-04-20 发布日期:2013-12-19
  • 通讯作者: 仝海波

A robust positioning algorithm with the modified M-estimation for multiple outliers

  1. National University of Defense Technology
  • Received:2013-12-04 Revised:2013-01-31 Online:2014-04-20 Published:2013-12-19

摘要:

随着导航卫星数量的增多,观测数据中出现多个粗差的概率显著增大,基于单个粗差假设的RAIM算法不能保证多个粗差的有效抑制。抗差估计在定位可靠性要求高的场合受到了广泛关注。针对传统M-估计受初值误差影响的问题,提出了一种基于改进M-估计的抗差定位解算方法。该算法采用S-估计方法计算初值,根据可用卫星数实时调整S-估计中的参数使得初值能够最大限度抑制粗差。GPS观测数据处理结果表明改进的M-估计能够有效抑制多个粗差。

关键词: 全球卫星导航系统, 定位, 抗差估计, 粗差探测, M-估计, S-估计

Abstract:

The possibility of multiple outliers should not be neglected in measurements for the increment number of the navigation satellites, and the RAIM based on the single-outlier hypothesis can not provide effective restraining against multiple outliers . The robust estimation is focused widely. A robust positioning algorithm is presented for resisting multiple outliers which make the traditional M-estimator ineffective. The robustness can be improved by the modified positioning algorithm. To handle the biased convergence problem, the robust estimate of the initial values is realized by modifying the S-estimation with available satellite number in real time. Positioning results of the actual GPS measurements show that the proposed method resists multiple outliers effectively.

Key words: Global Navigation Satellite System (GNSS), Positioning, Robust estimation, Fault detection, M-estimation, S-estimation

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