单频精密单点定位中基于卡尔曼滤波的自适应导航算法

北京大学学报（自然科学版）

单频精密单点定位中基于卡尔曼滤波的自适应导航算法

陆晨曦,谭云华,朱柏承,周乐柱

北京大学信息科学技术学院电磁场与微波实验室, 北京 100871;

收稿日期:2010-05-06 出版日期:2011-07-20 发布日期:2011-07-20

Adaptive Kalman Filter Based Navigation Algorithm for Single-Frequency Precise Point Positioning

LU Chenxi, TAN Yunhua, ZHU Bocheng, ZHOU Lezhu

Electromagnetic Field and Microwave Laboratory, School of Electronics Engineering and Computer Science, Peking University, Beijing 100871;

Received:2010-05-06 Online:2011-07-20 Published:2011-07-20

摘要/Abstract

摘要： 提出一种应用于单频精密单点定位的动态实时导航算法, 该方法利用卡尔曼滤波对载波相位等观测量进行实时处理, 无需静态初始化并能达到较高的定位精度。通过改进基于新息自适应的卡尔曼滤波, 提高导航算法在动态环境下的稳定性与定位精度。针对单频定位中的电离层修正问题, 通过建立映射模型, 将电离层影响作为待估计量进行滤波。在可见星数不小于5颗的条件下, 能够较准确地修正电离层。静态实测算例与动态仿真证明了该算法在静态与动态应用中的有效性。

关键词: 动态单点定位, 载波相位, 单频, 电离层修正

Abstract: A real-time resolving algorithm for single-frequency precise point positioning is presented. Based on Kalman filter, the observations on single frequency are processed in kinetic situations, and good precision can be obtained without static initialization. Innovation-based adaptive Kalman filter is improved to make the algorithm precise and robust in kinetic situations. In order to correct ionosphere influence effectively, the ionosphere delay on zenith is estimated in filtering process using spherical shell model when more than 5 satellites are available. Applications on practical data and kinetic simulations prove the effectiveness of this algorithm in both static and kinetic situations.

Key words: kinetic point positioning, carrier phase, single frequency, ionospheric refraction correction

中图分类号:

TN961

陆晨曦,谭云华,朱柏承,周乐柱. 单频精密单点定位中基于卡尔曼滤波的自适应导航算法[J]. 北京大学学报（自然科学版）.

LU Chenxi,TAN Yunhua,ZHU Bocheng,ZHOU Lezhu. Adaptive Kalman Filter Based Navigation Algorithm for Single-Frequency Precise Point Positioning[J]. Acta Scientiarum Naturalium Universitatis Pekinensis.