抗差Helmert方差分量估计在GPS/BDS/UWB融合定位中的应用

Application of robust Helmert variance component estimation in GPS/BDS/UWB fusion positioning

针对卫星信号受限环境下,全球定位系统(GPS)/北斗卫星导航系统(BDS)组合定位出现较大偏差的问题,引入超宽带(UWB)技术作为定位性能增强技术。GPS/BDS伪距测量值与UWB测距值作为原始观测值,提出了基于抗差赫尔默特(Helmert)方差分量估计的GPS/BDS/UWB融合定位方法,实现合理定权,抵御粗差影响。分别进行了静态实验和动态实验,结果表明:没有粗差情况下,GPS/BDS/UWB融合定位相对于GPS/BDS的定位精度在静态实验和动态实验中均有所提升;引入粗差后,定位结果可抵御粗差,精度提升较为明显。

Aiming at the problem of large bias in the combined positioning of global positioning system(GPS)and BeiDou navigation satellite system(BDS)in the satellite signal-constrained environment,ultra-wide band(UWB)was introduced as a positioning performance enhancement technique.GPS/BDS pseudo-range measurements and UWB ranging values were used as the original observations,and a GPS/BDS/UWB fusion positioning method based on the estimation of robust Helmert variance component was proposed to achieve reasonable weighting and resist the effect of gross error.Static experiments and dynamic experiments were carried out,respectively,and the results showed that without gross error,the positioning accuracy of GPS/BDS/UWB fusion positioning relative to GPS/BDS was improved in both static and dynamic experiments;after the introduction of gross error,the positioning results could resist the gross error,and the accuracy improvement was more obvious.