GPS 动态相对定位的自适应 Kal man 滤波算法

摘要

Kalman filtering have extension application in GPS kinetic data procession . classic Kalman filtering deems that predict bias is w hite noises w hich obey zero mean value normal school ,and controls current information effect by dynamic noise variance matrices . In fact ,it is impossible keep normal moving and so it is very easy come forth error .This pa-per discusses on the Kalman filtering that have errors in apply and introduces a new adaptive-ly Kalman filtering approach ,considering body rand accelerate and circle slips effect and the chance of divergence deduced .%GPS动态数据处理中广泛应用卡尔曼滤波，经典Kalman滤波认为预报误差是白噪声，服从零均值的正态分布，并利用动态噪声协方差矩阵来控制它对当前信息的影响，但实际测量定位中难以保证观测对象的规则运动，因而容易出现模型误差。针对G PS动态定位的这一问题，探讨了在实际应用中存在模型误差时的卡尔曼滤波，介绍了一种自适应Kalman滤波算法，该法顾及了载体机动加速及接收机发生周跳时的影响，减少了滤波发散的机会。