抗差EKF滤波在单频低成本接收机定位算法中的应用

Application of anti-error EKF filtering in fingle-frequency low-cost receiver positioning algorithm

文中针对低成本接收机观测数据质量中存在的问题,基于Python语言,编写单系统单频GNSS载波相位差分定位程序,对传统的EKF算法做出改进,建立了IGGⅢ抗差模型的改进抗差EKF数学模型,实现标准EKF算法及高度角与信噪比联合定权的改进抗差EKF算法。结果表明,在观测数据含有粗差时,采用该方法进行解算,相比于标准EKF定位模型改善显著,可以为低成本接收机提供切实有效的抗差方法。

In view of the problems in the quality of the observation data of low-cost receivers,based on Python language,the single system single-frequency GNSS carrier phase differential positioning program was written,and the traditional EKF algorithm was improved,the improved anti-error EKF mathematical model of IGGⅢanti-error model was established,and the standard EKF algorithm and the improved anti-error EKF algorithm with the joint weighting of the height angle and the signal-to-noise ratio were realized.Results showed that when the observation data contained the gross errors,the method was used to solve the problem,comparing with the standard EKF positioning model,the improvement was significant,and it could provide the practical and effective anti-error method for the low-cost receivers.