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《Science of Surveying and Mapping》 2008-04
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The improved IEKF algorithm for pseudolite positioning system

GAO Wei-guang①④,PAN Na-na②,ZHANG Xiao-dong③(①Institute of Surveying and Mapping,University of Information Engineering,Zhengzhou 450052,China;②School of Resources and Safety Engineering,China University of Mining & Technology,Beijing 100083;③Xian Research Institute of Surveying and Mapping,Xian 710054,China;④61081 Troops,Beijing100094,China)  
Firstly,the linearization error of non-linear observation equations of Pseudolite navigation system,resulting from the nearer distance between Pseudolites and users,is analyzed in detail,and the importance of considering linearization error in pseudolite data processing is pointed out.Then,the shortcomings of IEKF algorithm are also analyzed.Further more,an improved IEKF algorithm,based on the principle of equivalent covariance matrix of observational vector,is put forward.It is shown,by derivations and calculations,that the improved IEKF algorithm can not only improve the filter estimation accuracy,but also control the influences of measurement outliers.
【Fund】: 国家自然科学基金资助(40274002和40474001)
【CateGory Index】: P228.4
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