摘要
当BD2/GPS卫星信号受到多径效应干扰时,接收机的定位精度将会严重下降。针对这一问题提出了一种抑制多径的BD2/GPS双模自适应扩展卡尔曼滤波算法。通过观测误差协方差估计和粗差检测来调整卫星参与定位的受信任程度和个数,分析了多径效应对伪距残差和多普勒残差的影响,同时对比了原始EKF算法和AREKF算法在多径干扰下复杂动态路况的定位性能。实验结果表明,AREKF算法能够有效抑制多径信号对定位效果的干扰,明显提高了定位精度和可靠性。
When BD2/GPS satellite signal is interfered by multipath, the positioning accuracy of the receiver will be seriously reduced. In order to solve the problem, adaptive R extended Kalman filter （AREKF）algorithm based on BD2/GPS with suppressing multipath is designed. According to the observation error covariance of estimation and error detection, the algorithm can adjust trust level and number of positioning satellite. In addition, analyzing the pseudo-range and doppler residuals effected by multipath, and comparing the positioning performance in the complexly dynamic traffic using EKF with AREKF, the experiment result shows that AREKF can effectively suppress multipath and significantly improve the positioning accuracy and reliability.
出处
《电子技术应用》
北大核心
2017年第2期77-80,共4页
Application of Electronic Technique
基金
国家自然科学基金(61474022)
