基于Vondrak粗差探测的抗差EKF算法在GPS导航中的应用

THE APPLICATION OF ROBUST EKF ALGORITHM BASED ON VONDRAK GROSS ERROR DETECTION TO GPS NAVIGATION

提出基于Vondrak滤波粗差探测的抗差EKF算法,并应用于GPS导航定位。分析了传统抗差EKF的基本原理,结合粗差特性及Vondrak粗差探测理论,建立了新的抗差EKF模型。首先对观测值进行粗差识别和定位,再在粗差点处采用抗差EKF模型滤波。实验表明,当观测值中存在粗差时,新建抗差EKF模型可以很好地抵抗观测值中粗差的影响;和传统抗差模型相比,避免了对每个历元进行抗差迭代,提高了导航求解的效率。

For there is the problem of iterative calculation in robust extended Kalman filter （EKF）, an algo- rithm of robust EKF based on the Vondrak gross error was proposed and applied to the GPS navigation and positio- ning. The first, it could identify and position the gross error of observations. Then, robust EKF model was used. In or- der to test the new model, dynamic GPS data was measured, double difference observation equation and velocity with acceleration kalman state equation of the model were built. The experiment results show that the new differential ro- bust EKF model can resist the influence of gross errors in observation. Compared to the traditional robust EKF mod- el, it can avoid resistance difference iteration in each epoch, and improve the efficiency of navigation solution.