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Robust estimation method

A technology of robust estimation and error equation, which is applied in the field of robust estimation of measurement data processing, can solve problems such as huge amount of calculation, not yet applied in engineering field, and difficult to apply real-time data processing, so as to reduce the amount of calculation and resist the influence of gross errors Effect

Inactive Publication Date: 2014-06-18
TECHTOTOP MICROELECTRONICS
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Problems solved by technology

The repeated median method collapses the pollution rate to 0.5, but it is only suitable for data with little noise or well-designed data. If the data pollution rate is large and the good data is concentrated, this method will fail.
Quadratic residual median estimator and least squares truncation outside the case of the data set will collapse
Due to its huge amount of calculation, it is difficult to apply to real-time data processing, and has not been applied to the engineering field

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Embodiment Construction

[0029] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0030] A robust estimation method provided by the present invention, such as figure 1 Shown, step one 101, adopt the vehicle-mounted GNSS receiver to measure the pseudo-range measurement value from each satellite to the receiver, in environments such as urban canyons and overpasses, some pseudo-range measurement values ​​contain gross errors, according to pseudo-range and The relational expression of the receiver position coordinates, the system observation equation is obtained as:

[0031] function model ;

[0032] stochastic model ;

[0033] in, is the pseudorange observation, For th...

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Abstract

The invention aims at providing a robust estimation method. The method comprises the following steps: step 1, an observation value is obtained and an observation equation is built by using the mathematical relationship between the observation value and a to-be-estimated parameter; step 2, the initial value of the to-be-estimated parameter is given, and a corresponding error equation is obtained according to the observation equation; step 3, symbol constraint is added to a normal equation, and a new normal equation is obtained; step 4, the new normal equation is solved; and step 5, step 2 to step four are repeated according to the resolution result of the new normal equation, and iterative computation is carried out. When the technical scheme of the invention is adopted, the fact that the symbol constraint is applied to the technical field of engineering can be realized, huge amount of calculation as the original algorithm uses interval analysis and global optimization can be reduced, a least square method of simplified symbol constraint can be applied to real-time data processing, and gross error influences can be effectively resisted.

Description

technical field [0001] The invention relates to a robust estimation method, more specifically, the invention relates to a robust estimation method for measurement data processing. Background technique [0002] Measurement data processing is to obtain the optimal estimate of unknown parameters according to a certain mathematical model, including function model and stochastic model, according to a certain estimation criterion, and evaluate its accuracy. Gross error is defined as an error larger than the maximum accidental error. If such gross error is included in the adjustment model, even if it is a small number, it will seriously distort the least squares estimated value of the parameter, affect the quality of the result, and cause extremely bad consequences. With the development of advanced measurement technologies such as Global Positioning System (GNSS), Geographic Information System (GIS), Remote Sensing (RS), and the modernization and automation of measurement data col...

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Application Information

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IPC IPC(8): G01S19/35G01S19/13
CPCG01S19/37G01S19/13
Inventor 吕海霞
Owner TECHTOTOP MICROELECTRONICS