CAJ | 학술논문

针对卫星导航系统中伪距观测量存在缓变伪距偏差，导致定位精度下降的问题，提出了一种基于滑动积累的抗差扩展卡尔曼滤波方法。该方法在抗差扩展卡尔曼滤波算法的基础上，通过滑动窗口内多个历元残差矢量的累积，增大标准化残差矢量的伪距偏差，来提高对缓变伪距偏差故障的抗差能力。仿真表明，该方法能有效消除或者减弱微小伪距偏差和缓慢增长伪距偏差造成的位置误差，与传统抗差扩展卡尔曼滤波算法比较，定位精度得到明显改善。
침대위성도항계통중위거관측량존재완변위거편차，도치정위정도하강적문제，제출료일충기우활동적루적항차확전잡이만려파방법。해방법재항차확전잡이만려파산법적기출상，통과활동창구내다개역원잔차시량적루적，증대표준화잔차시량적위거편차，래제고대완변위거편차고장적항차능력。방진표명，해방법능유효소제혹자감약미소위거편차화완만증장위거편차조성적위치오차，여전통항차확전잡이만려파산법비교，정위정도득도명현개선。
Since the slowly growing psendo-range errors existing in the pseudo-range measurements of satellite navigation system may further lead to the decreasing of position accuracy,a robust extended Kalman filter (EKF)method based on sliding and accumulated residuals was proposed.The method based on the robust EKF algorithm cumulated the residual vectors for multi epochs in the sliding window and increased the pseudo-range error of standardized residual vector,which improved the robustness of slowly growing pseudo-range error.Results show that the method can effectively eliminate or weaken the position error caused by slight pseudo-range error and slowly growing pseudo-range error.Compared with the traditional robust EKF algorithm,the positioning accuracy of this method is improved obviously.