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《Science of Surveying and Mapping》 2005-02
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The adaptive robust kalman filtering algorithm in GPS kinematic positioning

GAO Wei-guang~①,ZHANG Shuang-cheng~②,WANG fei~③,WANG li~②(①Institute of Surveying and Mapping,Information Engineering University,Zhengzhou 450052;②Institute of Geo-engineering and Surveying,Chang'an University,Xian 710054;③96165 Army 57 Troops,Jiangxi Leping 333300)  
The quality of GPS navigation and positioning lies on the detecting of the functional models and random models.Firstly a linear adaptively robust Kalman filter based on the current statistical model and variance component estimation to process kinematic positioning data is built.It is shown,by derivations and calculations,that the new arithmetic can not only improve the filtering estimation accuracy,but also control the influences of measurement outliers and the disturbances of the dynamical model.The new algorithm gives more actual and reliable parameter estimates of the maneuvering vehicles.
【Fund】: 国家自然科学基金资助项目 ( 4 0 2 74 0 0 2 )
【CateGory Index】: P228
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