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Outlier elimination method and device

A technology of outliers and target values, applied in the field of outlier removal methods and devices, can solve problems such as low reliability of fusion positioning

Active Publication Date: 2018-06-01
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0004] The purpose of the embodiments of the present invention is to provide a method and device for eliminating outliers to solve the problem of low reliability of fusion positioning

Method used

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  • Outlier elimination method and device
  • Outlier elimination method and device

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Experimental program
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Embodiment approach

[0099] Judging whether the residual of the Kalman filter residual model falls within the target residual range;

[0100] Taking residuals that are not within the target residual range as outliers, and removing the outliers from the target residual range.

[0101] It can be seen that in this embodiment, by judging whether the residuals of the Kalman filter residual model belong to the target residual range, the residuals that are not within the target residual range are used as outliers, and the residuals from the target Eliminate the outliers in the residual range, and quickly remove the outliers accurately and orderly.

[0102] Another implementation of S104:

[0103] Get the maximum and minimum values ​​of the values ​​within the target residual range;

[0104] When the residual of the Kalman filter residual model is less than the minimum value or greater than the maximum value, the residual value corresponding to the minimum value or greater than the maximum value is used...

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Abstract

An embodiment of the invention provides an outlier elimination method and device. The method includes: acquiring target residual errors forming a residual error mean value of zero from a constructed Kalman filter residual error model in preset time; when the target residual errors accord with Gaussian distribution, acquiring a covariance matrix of the Kalman filter residual error model by the Kalman filter residual error model; taking a range formed by a first target value and a second target value as a target residual error range; taking the residual errors outside the target residual error range as outliers, and eliminating the outliers from the target residual error range. By adoption of the outlier elimination method, the problem of low reliability in fusion positioning can be solved.

Description

technical field [0001] The invention relates to the technical field of fusion positioning, in particular to a method and device for eliminating outliers. Background technique [0002] Traditional multi-source fusion positioning is based on information fusion technology, which fuses homogeneous or heterogeneous navigation information from different navigation sources according to existing corresponding fusion algorithms, such as robust Kalman filter algorithm, variance adaptive compensation method, Taking the variance adaptive compensation method as an example, in the Kalman filtering process, the covariance matrix of the model error is adaptively generated by using the observation information, so that the observation residual and the covariance matrix maintain a good consistency filtering, based on windowing The approximation method uses the previous step residual sequence to estimate the covariance matrix of the observation vector and the covariance matrix of the state erro...

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Application Information

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IPC IPC(8): G06F17/16G01S7/41
CPCG01S7/418G06F17/16
Inventor 邓中亮胡恩文林开钦尹露宋汶轩朱棣
Owner BEIJING UNIV OF POSTS & TELECOMM
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