一种基于GPS/BDS观测值的抗多路径误差导航定位算法

摘要

提出一种抑制卫星导航定位中多路径误差的算法,采用双卫星系统GPS/BDS的伪距和多普勒观测值,增加了观测值数据的有效性,结合抗差自适应卡尔曼滤波模型,减弱了城市稠密建筑中卫星导航定位多路径误差对定位的影响.城市车载实验结果显示,与GPS单系统伪距定位相比,采用GPS/BDS伪距定位,点位精度由4.9m提高到4.3m;采用本文算法,点位精度进一步提高到3.4m,验证了本文算法的有效性.%A multipath reduction algorithm based on GPS/BDS measurement is proposed in this paper.With pseudorange and Doppler observations of BDS/BDS,the availability of observations is enhanced.In addition,combined with the robust adaptive Kalman filter,the multipath errors caused by high buildings in urban areas can be efficiently reduced and thus the accuracy and reliability of satellite navigation is improved.Results from a car driving test show that position error is reduced from 4.9 m to 4.3 m with GPS and GPS/BDS point positioning respectively.When the robust filter method is adopted,the position error has been further reduced from 4.3 m to 3.4 m.