CAJ | 학술논문

机载单站无源测向定位中，若观测值中存在异常误差，采用EKF算法会导致定位结果有偏。为增强算法抗差性，将抗差EKF算法引入到机载单站无源测向定位中。首先，建立了机载单站无源测向定位模型，依据标准化观测残差构建了抗差等价权矩阵，对异常观测进行降权处理。其次，针对抗差EKF算法效率低的特点，构建了卡方统计量，提出了基于卡方检验的抗差EKF定位算法，即先利用卡方检验判别出含异常误差的观测值，再调用抗差 EKF 算法进行定位解算。最后，通过在观测值中加入单个异常误差和连续异常误差，测试了算法对不同异常误差的抵抗能力。仿真表明，抗差EKF算法能较好地削弱异常误差对位置估值的影响，并且基于卡方检验的抗差EKF定位算法能提高定位的效率。
궤재단참무원측향정위중，약관측치중존재이상오차，채용EKF산법회도치정위결과유편。위증강산법항차성，장항차EKF산법인입도궤재단참무원측향정위중。수선，건립료궤재단참무원측향정위모형，의거표준화관측잔차구건료항차등개권구진，대이상관측진행강권처리。기차，침대항차EKF산법효솔저적특점，구건료잡방통계량，제출료기우잡방검험적항차EKF정위산법，즉선이용잡방검험판별출함이상오차적관측치，재조용항차 EKF 산법진행정위해산。최후，통과재관측치중가입단개이상오차화련속이상오차，측시료산법대불동이상오차적저항능력。방진표명，항차EKF산법능교호지삭약이상오차대위치고치적영향，병차기우잡방검험적항차EKF정위산법능제고정위적효솔。
In the application of airbone single-observer passive wireless radio frequency inj ection location,if there has outliers in the observed value,the application of the EKF algorithm will make the location esti-mation biased.Therefore,a robust EKF algorithm is applied to airborne single-observer passive wireless radio frequency inj ection location system.Firstly,airbone single-observer passive bearing location model is build,and the robust equivalent weight matrix built by standardized observation residuals is used to resist outliers.Then,in order to improve the efficiency of passive location system,the robust EKF based on chi-square test is proposed by creating a chi-square statistical model.It can distinguish outliers through chi-square test,and then call the robust EKF to complete location solution.Through rej ecting single outlier and continuing outliers to test the ability of the algorithm.Simulation result shows that the suggested algo-rithm has great outlier suppression ability and the robust EKF based on chi-square test is fast.