基于抗差扩展卡尔曼滤波和外推-积累的RAIM方法
发布时间：2018-08-26 16:17
【摘要】：为了提高接收机自主完好性监测(receiver autonomous integrity monitoring,RAIM)算法对微小缓变伪距偏差的检测能力,提出一种基于抗差扩展卡尔曼滤波和外推-积累的RAIM方法。该方法结合了新息外推法和累积历元法在检测微小缓变伪距偏差上的优势,即在新息外推法的基础上,累加多个历元的检验统计量,来更有效地检测微小缓变伪距偏差;同时,利用抗差扩展卡尔曼滤波对偏差进行抗差处理,提高了定位精度。仿真结果表明,相比较于传统RAIM方法、新息外推法以及累积历元法,新的RAIM方法均提高了对微小伪距偏差正确检测的概率,缩短了对缓变伪距偏差的检测延时,且经过伪距偏差修正后定位精度提高。
[Abstract]:In order to improve the detection ability of receiver autonomous integrity monitoring (receiver autonomous integrity monitoring,RAIM) algorithm for small slowly varying pseudo-range deviation, a RAIM method based on robust extended Kalman filter and extrapolation accumulation is proposed. This method combines the advantages of the innovation extrapolation method and the cumulative epoch method in detecting the small and slowly changing pseudo-range deviation, that is, on the basis of the innovation extrapolation method, the test statistics of several epochs are accumulated to detect the small slowly changing pseudo-range deviation more effectively. Robust extended Kalman filter is used to deal with the deviation, and the positioning accuracy is improved. The simulation results show that compared with the traditional RAIM method, the innovation extrapolation method and the cumulative epoch method, the new RAIM method improves the probability of correct detection of the small pseudo-range deviation and shortens the detection delay of the slow-varying pseudo-range deviation. And the positioning accuracy is improved after the correction of pseudo-range deviation.
【作者单位】： 北京理工大学宇航学院;中北大学机电工程学院;
【基金】：国家自然科学基金(41304031,61502257)资助课题
【分类号】：TN967.1
本文编号：2205461
[Abstract]:In order to improve the detection ability of receiver autonomous integrity monitoring (receiver autonomous integrity monitoring,RAIM) algorithm for small slowly varying pseudo-range deviation, a RAIM method based on robust extended Kalman filter and extrapolation accumulation is proposed. This method combines the advantages of the innovation extrapolation method and the cumulative epoch method in detecting the small and slowly changing pseudo-range deviation, that is, on the basis of the innovation extrapolation method, the test statistics of several epochs are accumulated to detect the small slowly changing pseudo-range deviation more effectively. Robust extended Kalman filter is used to deal with the deviation, and the positioning accuracy is improved. The simulation results show that compared with the traditional RAIM method, the innovation extrapolation method and the cumulative epoch method, the new RAIM method improves the probability of correct detection of the small pseudo-range deviation and shortens the detection delay of the slow-varying pseudo-range deviation. And the positioning accuracy is improved after the correction of pseudo-range deviation.
【作者单位】： 北京理工大学宇航学院;中北大学机电工程学院;
【基金】：国家自然科学基金(41304031,61502257)资助课题
【分类号】：TN967.1
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