一种顾及载体运动速度的平滑滤波方法

A Smoothing Filtering Method Considering the Moving Velocity of Carrier

大众用户对于手机的定位要求,不仅要求高精度、平滑连续的位置结果,还有手机测速的精度。基于此,文章提出一种顾及载体运动速度的平滑滤波算法,以载体位置和速度为待估参数,引入多普勒观测值进行抗差卡尔曼滤波,以提升手机定位和测速的精度。实测结果表明,引入多普勒观测值的滤波算法的定位精度与传统伪距滤波结果相比提升了50%左右,测速精度与伪距滤波结果相比提升了80%左右,达到分米级测速效果。

The positioning requirements of mass users for mobile phones not only require precision,smooth and continuous position results,but also the accuracy of mobile phone speed measurement.Based on this,this paper proposes a smoothing filter algorithm that takes into account the velocity of the carrier,taking the position and velocity of the carrier as parameters to be estimated,and introducing Doppler observations for robust Kalman filtering to improve the accuracy of mobile phone positioning and speed measurement.The measured results show that the positioning accuracy of the filter algorithm introduced Doppler observation value is improved by about 50%compared with the traditional pseudo-range filtering results,and the velocity measurement accuracy is improved by about 80%compared with the pseudo-range filtering results,reaching decimeter-level speed measurement effect.