摘要
转发式干扰转发真实的卫星信号导致伪距信息错误,能不被察觉地使捷联惯导系统(SINS)和全球定位系统(GPS)的深耦合组合导航解算错误。根据深耦合中信号处理的特点,将错误的伪距视为粗差,提出一种基于自适应抗差平方根容积卡尔曼滤波(AR-SRCKF)的融合算法。该方法采用自适应抗差滤波作为算法的框架,提高系统对转发式干扰的鲁棒性,同时为了避免线性化误差造成滤波性能的下降,采用平方根容积卡尔曼滤波(SRCKF)解决非线性滤波问题以及确保协方差阵的对称性和半正定性。最后,深耦合系统下的仿真分析验证了其对转发式干扰具有良好的鲁棒性。
Repeater jamming transmits authentic satellite signals and results in error in pseudo range, thus making deeply coupled SINS/GPS system resolve incorrectly without being detected. On the basis of characteristic of signal processing in deep integration and treating error in pseudo range as gross error, the Adaptive Robust Square-Root Cubature Kalman Filter（AR-SRCKF）is proposed. The method utilizes adaptive robust filter as the frame of the algorithm to improve system robustness to repeater jamming. Meanwhile, for avoiding filter performance decreasing caused by linearization, the method uses squre-root cubature Kalman filter to solve the non-linear filtering problem and make sure the symmetry and positive semidefinite of the covariance matrix. Finally, simulation and analysis under deep integrated system validates its good robustness to repeater jamming.
出处
《计算机工程与应用》
CSCD
北大核心
2016年第2期31-35,共5页
Computer Engineering and Applications
基金
电子科技大学中央高校基本科研业务费(No.ZYGX2012J150)
关键词
抗差估计
自适应滤波
容积卡尔曼滤波
深耦合
转发式干扰
robust estimation
adaptive filtering
cubature Kalman filter
deep integration
repeater jamming
