提高CORS RTK测量精度的卡尔曼滤波算法

Improve Surveying Precision of CORS RTK Based on Kalman Filter

结合开采沉陷监测的特点,以煤矿开采沉陷自动化监测系统的实时数据采集终端系统2min内各历元采集的坐标及精度为基础,构建卡尔曼滤波模型,以进一步改善移动终端CORS RTK测量精度。利用地表移动观测站的实测数据,通过与CORS RTK测量、水准测量结果的比较分析,滤波后的测量精度得到了较好的改善,平面测量精度和高程测量精度均可达到±10.0mm,能基本满足开采沉陷监测的精度要求。

With monitoring characters of mining subsidence, on the basis of coordinate and precision of data that collected in 2min by real-time data acquisition terminal system of coal mine mining subsidence automation monitoring system, Kalman filter model was built, then surveying precision of mobile terminal CORS RTK would improved future.The results of CORS RTK surveying and level surveying were compared based on measured data of surface movement surveying station.The surveying precision after filter was im-proved obviously, the precision of plane surveying and altimetric surveying could reached ±10.0mm, the result could meet surveying precision of mining subsidence monitoring.