改进的Hatch滤波平滑算法及RAIM性能分析

An Improved Hatch Filtering Smoothing Algorithm and RAIM Performance Analysis

在比较不同Hatch滤波定权方法的基础上,提出了一种基于改正数、验后单位权中误差和卫星高度角适应权因子的Hatch滤波改进算法,该算法精度较高、具有一定的抗差性,能够解决基于高度角的Hatch滤波在高高度角卫星发生周跳时滤波不平滑的问题。实验结果表明,改进的Hatch滤波平滑算法的精度优于传统的Hatch滤波和基于高度角的Hatch滤波,有良好的伪距修复效果。当存在伪距偏差时,改进的Hatch滤波能够提高滑动开窗RAIM的可用性。

On the basis of comparing different Hatch filter weighting methods, an improved Hatch filtering algorithm based on correction number, posterior unit weight median error and satellite altitude angle adaptation weight factor is proposed. The algorithm has high accuracy and robustness, and can solve the problem of filtering smoothness when the high altitude angle satellite cycle slip occurs based on the altitude angle Hatch filter. The experimental results show that the improved Hatch filter smoothing algorithm has better precision than the traditional Hatch filter and the high angle-based Hatch filter, and has a good pseudo-range repair effect. The improved Hatch filter can improve the availability of sliding window RAIM when the pseudo-range deviation exists.