摘要
为了避免对单一卫星导航系统的过分依赖,并且针对在观测条件较差,单一系统无法定位或者定位精度急速下降的情况,提出了一种基于非线性滤波的GLONASS/GPS双系统融合定位的方法。采用扩展卡尔曼滤波(EKF)和平淡卡尔曼滤波(UKF)算法,并引入伪距判别选星策略,削弱观测卫星数量跳变对定位精度的影响,进行双系统融合定位,并针对恶劣环境,选取仰角最高的五颗卫星进行双系统定位。实验结果表明,算法有较高的定位精度和稳定性,尤其在恶劣情况下,单系统卫星数不足时,双系统融合定位更显示其优势。
In order to avoid excessive dependence on one single satellite navigation system, and solve the problem that one single system cannot position in a high accuracy way under poor observation conditions, this paper proposes a method for GLONASS/GPS dual system positioning based on nonlinear filtering. This method adopts Extended Kalman filter （EKF） and unscented Kalman filter （UKF） algorithm, designs a satellite selection strategy based on analyzing pseudorange, and also apply this method to the poor environments for dual system positioning. The experiments results show that the proposed GLONASS/GPS dual system positioning method performs high accuracy and stability, especially in the poor conditions where the number of single system satellites is insufficient.
出处
《电子设计工程》
2017年第1期101-105,109,共6页
Electronic Design Engineering
