改进的渐消卡尔曼滤波在GPS动态定位中的应用

An Improved Fading Kalman Filter and its Application to GPS Kinematic Positioning

摘要:

基于中长基线GPS动态定位模型和渐消卡尔曼滤波理论,提出构建新的渐消因子向量,通过对不同滑动窗口宽度设计一组平行滤波器,利用加权获得优化之后的协方差阵来改善中长基线中动态定位的精度.数据解算结果验证了该方法的正确性和可靠性.

Abstract:

Based on mediumlong baseline GPS kinematic positioning model and the theory of classic fading Kalman filter,a modified fading factor vector is proposed.Different widths of sliding windows are used to obtain a series of parallel filters.The weight factor of covariance is decided by the residuals of every filter.The modified fading Kalman filter is more effective and sensitive than classic Kalman filter.Various experiments are made to test the performance of this method.The results show the precision of longbaseline GPS kinematic positioning is improved.