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《Acta Geodaetica et Cartographica Sinica》 2009-02
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An Algorithm for Kinematic Filtering with Contaminated Measurement Noises

SONG Ying-chun1,2, LIU Qing-yuan1, ZENG Lian-bin1, CHEN Yu-bo11. School of Info Physics and Geomatics Engineering, Central South University, Changsha 410083, China; 2. Xi’an Research Institute of Surveying and Mapping, Xi’an 710054, China  
The observations are sometimes contaminated by gross errors (or outliers) and the error distribution in this case can be regarded as contaminated distribution. The precision of kinematic positioning by using Kalman filtering is very sensitive to the outliers. A Bayesian estimator is given for dynamic models with contaminated distribution, based on Bayesian theory. Simulation and practical examples of filtering are given, which show that the modified Kalman filtering is effective and reliable.
【Fund】: 国家自然科学基金(40874005 40774001);; 863专项基金(2007AA12Z331);; 教育部博士点基金(200805331086)
【CateGory Index】: X839.1
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