摘要
结合载波相位平滑伪距技术和卡尔曼滤波定位解算方法,可以更好的抑制随机误差及各误差残差对定位结果的影响。利用实测数据对基于载波相位平滑伪距的卡尔曼滤波定位性能进行了研究。实验表明:该方法得到的定位结果的精度及稳定度得到提高,其定位误差方差比未平滑伪距最小二乘方法最大减小了约2.9m2,比平滑伪距最小二乘方法最大减小了约0.9m2,比未平滑卡尔曼滤波方法最大减小了约1.6m2.
Considering of both carrier phase smoothed pseudo range and Kalman filter, the influence of pseudo range error on positioning will be greatly decreased. An algorithm of positioning with Kalman filter based on carrier phase smoothed pseudo range is researched in this paper. Experiments show that the algorithm greatly improves the positioning accuracy and stability. Compared to positioning with LMS （least mean square） based on original pseu-do range, the variance decreases by 2. 9 m^2; Compared with LMS based on carrier phase smoothed pseudo range, the variance decreases by 0. 9 m^2; compared with Kalman filter based on original pseudo range , the variance decreases by 1.6 m^2.
出处
《全球定位系统》
2013年第4期16-19,27,共5页
Gnss World of China
关键词
载波相位平滑
卡尔曼
最小二乘
随机误差
Carrier phase smoothing
Kalman filter
least mean square
random error
