复杂信号环境下的鲁棒卡尔曼滤波算法
陈陌寒;巴晓辉;何璐;陈杰
【期刊名称】《科学技术与工程》 【年(卷),期】2011(011)017
【摘要】An efficient robust Kalman algorithm for Global Navigation Satellite System in complicated signal environments is proposed. By the qualitative analysis of gross error, a weighted combination of the normal distribution is proposed to model the observation noise. Then the algorithm based on Bayesian is derived. Furthermore, a kind of on-line estimation for the pollution rate is given by using the moment estimation theory. The results show that this robust Kalman filter algorithm can resist efficiently affection of abnormal noises. Example proves that the modified Kalman filter is effective and reliable.%提出一种有效减小全球导航卫星系统接收机在复杂信号环境下定位误差的鲁棒卡尔曼滤波算法.该算法对基于高斯白噪声模型的传统Kalman进行了改进,引入了污染分布,并提出了一种基于加权组合正态分布模型下的滤波算法.同时利用矩估计理论对算法中的污染率给出了一种在线估计方法.通过模拟数据和真实采集信号的测试证明,提出的算法可在线对污染率进行准确稳定的估计,抑制粗差的效果明显优于传统Kalman滤波算法,定位误差显著减小. 【总页数】5页(3979-3983)
【关键词】全球导航卫星系统;复杂信号环境;Bayes定理;污染率;Kalman滤波 【作者】陈陌寒;巴晓辉;何璐;陈杰