摘要
以先前历元最小二乘抗差解的中误差均值作为当前历元抗差解的精度阀值,提出一种基于移动窗口的抗差自适应滤波算法。GPS/COMPASS实时动态路车试验表明,该算法可以提高差环境下的卫星导航定位精度。
Robust adaptive filtering supposes that result of robust least square is accurate in current epoch. Through discrepancy between updated kinematic information and the measurements, navigation is adaptive. But in ac- tual car navigation,rate of gross error is high,which makes accuracy of robust result drop. In order to solve this prob- lem,this paper gives a robust adaptive filtering based on moving windows which regard mean error of robust least square solution of previous epochs as the threshold of current epoch. Experiments of road based on GPS/COMPASS re- al-kinematic positioning indicate that this algorithm can improve accuracy of navigation in urban environment.
出处
《大地测量与地球动力学》
CSCD
北大核心
2014年第6期140-143,共4页
Journal of Geodesy and Geodynamics
基金
国家自然科学基金项目(41203159)
