Dynamic GNSS measurement data anti-outlier bidirectional smoothing filtering method

A technology for measuring data and smoothing filtering, which can be used in measurement devices, radio wave measurement systems, satellite radio beacon positioning systems, etc., and can solve problems such as poor accuracy

Inactive Publication Date: 2016-03-23
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0004] In order to overcome the deficiency of poor accuracy of the existing two-way smoothing filtering method, the present invention provides an anti-outlier two-way smoothing filtering method for dynamic GNSS measurement data

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  • Dynamic GNSS measurement data anti-outlier bidirectional smoothing filtering method
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  • Dynamic GNSS measurement data anti-outlier bidirectional smoothing filtering method

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Embodiment Construction

[0035] The specific steps of the anti-outlier bidirectional smoothing filter method of the dynamic GNSS measurement data of the present invention are as follows:

[0036] Step 1. Identify and eliminate outliers. For the time series measurement data input into the Kalman filter, measure the data Y at time k k As an example, perform linear minimum variance estimation for state estimation and calculate predicted values.

[0037] x ^ k / k - 1 = Φ k / k - 1 x ^ k - 1 / k - 1 - - - ( 1 ...

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Abstract

The invention discloses a dynamic GNSS measurement data anti-outlier bidirectional smoothing filtering method, and aims at solving the technical problems that existing bidirectional smoothing filtering methods are poor in precision. The technical scheme is that an existing bidirectional filtering smoothing algorithm is improved based on state continuity of time sequence measurement data. Firstly system prediction error covariance judgment is performed on measurement data entering a kalman filter so that outlier identification and elimination of the measurement data are realized, and state estimation convergence of the filter can be ensured; in the forward filtering process, state estimation values, error estimation values and filtering prediction values in the forward filtering process are recorded; then state estimation and prediction are performed on each measurement point through an independent backward reverse filtering method; and finally the state estimation values are integrated through combination of the error estimation array of forward filtering and backward filtering so that an optimal measurement value is obtained, and high-precision dynamic measurement data are obtained finally.

Description

technical field [0001] The invention relates to a bidirectional smooth filtering method, in particular to a bidirectional smooth filtering method for anti-outlier value of dynamic GNSS measurement data. Background technique [0002] With the wide application of GNSS satellite navigation system, especially the rapid development in the field of motion carrier navigation, higher requirements are put forward for its performance, among which the further demand for measurement data accuracy requires us to conduct more in-depth research to improve the accuracy of dynamic GNSS measurement data processing method. In order to meet the higher positioning accuracy requirements, some measurement data smoothing techniques are mainly used at present, and the accuracy is improved through post-processing methods. Under actual dynamic conditions, due to the influence of occlusion and multipath in the scene, there are outliers in the measurement data, which seriously endangers the accuracy of...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/27
CPCG01S19/27
Inventor 郭淑霞刘瑞兵高颖王亚锋陈旭于学伟董文华李瑛
Owner NORTHWESTERN POLYTECHNICAL UNIV
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