抗差M估计在GPS/北斗双系统定位中的应用

The Application of Robust M Estimation on Positioning of GPS and Compass Dual System

针对经典最小二乘估计对粗差不具有抵抗力的问题,本文详细论述了具有抗差能力的抗差M估计的基本原理。利用GPS/北斗观测数据,对三种常用的抗差M估计以及经典最小二乘估计进行数据测试,对比分析其在GPS/北斗双系统码伪距相对定位中的抗差效果及效率。测试结果表明,抗差M估计的解算结果比最小二乘法更接近真实值;在三种常用的选权迭代法中,IGG-Ⅲ方案的抗差效果和效率好于Huber法和丹麦法,且较易实现。

Arming at the problem of that the classical least squares estimation has no resistance to the gross error,the basic principle of robust M estimation with robust ability was discussed in this paper.The three commonly robust M estimations and the classical least squares estimation were tested using GPS and Compass observed data.According to the results,the robust effect and efficiency were analyzed and compared with Code pseudo range in the relative positioning of the GPS and Compass dual system.It showed that the results of the robust M estimation is more close to the true value than that of the least square method;In the three commonly robust M estimation,the IGG-Ⅲ＇s robust effect and efficiency were better than Huber and Danish method.And the IGG-Ⅲ was easily achievable.