| 复杂信号环境下的鲁棒卡尔曼滤波算法 |
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| 引用本文： | 陈陌寒. 复杂信号环境下的鲁棒卡尔曼滤波算法[J]. 科学技术与工程, 2011, 11(17) |
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| 作者姓名： | 陈陌寒 |
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| 作者单位： | 中国科学院微电子研究所,北京,100029 |
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| 基金项目： | 国家高技术研究发展计划（863计划） |
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| 摘 要： | 该文提出一种有效减小全球导航卫星系统接收机在复杂信号环境下定位误差的鲁棒卡尔曼滤波算法。该算法对基于高斯白噪声模型的传统Kalman进行了改进，引入了污染分布，并提出了一种基于加权组合正态分布模型下的滤波算法。同时利用矩估计理论对算法中的污染率给出了一种在线估计方法。通过模拟数据和真实采集信号的测试证明，本文提出的算法可在线对污染率进行准确稳定的估计，抑制粗差的效果明显优于传统Kalman滤波算法，定位误差显著减小。
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| 关 键 词： | 全球导航卫星系统；复杂信号环境；Bayes定理；污染率； kalman滤波 |
| 收稿时间： | 2011-03-10 |
| 修稿时间： | 2011-03-10 |
Robust Kalman Algorithm in Complicated GNSS Signal Environments |
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| Chen Mohan. Robust Kalman Algorithm in Complicated GNSS Signal Environments[J]. Science Technology and Engineering, 2011, 11(17) |
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| Authors: | Chen Mohan |
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| Affiliation: | CHEN Mo-han,BA Xiao-hui~1,HE Lu~1,CHEN Jie~1 (Institute of Microelectronics,Chinese Academy of Sciences,Beijing 100029,P.R.China) |
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| Abstract: | An efficient robust Kalman algorithm for Global Navigation Satellite System in complicated signal environments is proposed in the paper. By the qualitative analysis of gross error, a weighted combination of the normal distribution is proposed to model the observation noise. Then the algorithm based on Bayesian is derived. Furthermore, a kind of on-line estimation for the pollution rate is given by using the moment estimation theory. The results show that this robust Kalman filter algorithm can resist efficiently affection of abnormal noises. Example proves that the modified Kalman filter is effective and reliable |
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| Keywords: | GNSS complicated signal environment Bayesian theory pollution rate Kalman filter |
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