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《Geomatics and Information Science of Wuhan University》 2009-06
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A Stepped Robust and Adaptive Filtering and Its Applications in GPS Kinematic Navigation

GUI Qingming1,2 XU Apei1 HAN Songhui1 (1 Institute of Science,Information Engineering University,62 Kexue Road,Zhengzhou 450001,China) (2 Institute of Surveying and Mapping,Information Engineering University,66 Middle Longhai Road,Zhengzhou 450052,China)  
A robust and adaptive filtering algorithm is proposed.Firstly,the observed values are corrected by the robust biased estimation such as robust ridge estimator,which only uses the original observed information before the calculation of the filter.Secondly,the errors of the dynamic model are eliminated through the adaptive factor.The effects of the errors from the measurement model and dynamic model can be resisted in two steps.Finally,a large number of GPS kinematic navigation calculative experiments were given to prove the validities and stabilities of this method.
【Fund】: 国家自然科学基金资助项目(40474007);; 国家杰出青年科学基金资助项目(40125013);; “基础地理信息与数字化技术”山东省重点实验室开放研究基金资助项目(SD040202);; 河南省自然科学基金资助项目(0511010100);; 郑州市科技攻关计划资助项目
【CateGory Index】: P207
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