CAJ | 학술논문

在动态导航定位中，不仅会存在有色噪声的影响，而且还会出现观测系数矩阵存在偏差的情况，数据处理中不容忽视。针对此，本文将总体最小二乘和自适应抗差滤波相结合，提出了能够同时控制有色噪声和系数矩阵偏差影响的新方法。该算法先用总体最小二乘方法求出观测方程系数矩阵偏差，并对观测方程系数矩阵进行修正，再基于修正后的观测系数矩阵使用自适应抗差滤波算法求解出最后的状态参数估值。计算结果表明，该方法不仅能够改正系数矩阵偏差且能控制有色噪声的影响，有效地提高导航定位的精度和可靠性。
재동태도항정위중，불부회존재유색조성적영향，이차환회출현관측계수구진존재편차적정황，수거처리중불용홀시。침대차，본문장총체최소이승화자괄응항차려파상결합，제출료능구동시공제유색조성화계수구진편차영향적신방법。해산법선용총체최소이승방법구출관측방정계수구진편차，병대관측방정계수구진진행수정，재기우수정후적관측계수구진사용자괄응항차려파산법구해출최후적상태삼수고치。계산결과표명，해방법불부능구개정계수구진편차차능공제유색조성적영향，유효지제고도항정위적정도화가고성。
In the kinematic navigation and positioning, not only there are the influence of colored noise, but also the observation coefficient matrix can appear the deviation. These errors can not be ignored in data processing. For this, a new method combined total least squares with adaptively robust filtering is presented to control the influences of the colored noises and the coefficient matrix deviation at the same time. The algorithm first use Total Least Squares to obtain the coefficient matrix deviation of observation equation, and then use this deviation to correct the observation equation coefficient matrix. Further adaptively robust filtering algorithm will be used to solve the final state parameter estimation. Finally, the feasibility and effectiveness of the algorithm is verified by navigation data. The results show that this algorithm can correct the coefficient matrix deviation and control the influence of colored noise effectively.