基于M估计的多传感器加权融合法在单点定位中的应用

An Algorithm of Multi-Sensors Weighted Fusion Based on M-Estimate Applied in Single-Point Positioning

针对测量值误差函数符合污染分布的情况，利用M估计的抗差特性估计未知参数，并计算各传感器污染分布统计特性，应用其分配权值进行融合。通过仿真分析证明，该法在模型及算法选择上均具有优越性，且有较高的精确性和稳健性。

Aiming at the condition of the error function measurement fitted to the contaminated distribution, the robust character of M-estimate to reckon unknown parameter is used and the statistical properties of the contaminated distribution of each sensors are computed and fused according to its distributed power. The simulation analysis proves the rightness of the model and the algorithm has its own advantage with better precision and stabilization.