文档介绍：基于改进粒子滤波算法的GPS非高斯伪距误差修正*
涂刚毅金世俊祝雪芬宋爱国
(东南大学仪器科学与工程学院, 南京 210096)
摘要: 针对城市环境中由于受到多径效应影响, GPS伪距误差呈非高斯分布的问题, 本文通过对实测数据进行分析, 在建立正确的伪距误差分布模型的基础上, 提出了一种改进粒子滤波修正算法, 用于优化PVT解算结果, 提高了GPS在城市环境中定位的精度。并通过与卡尔曼滤波定位优化算法结果进行比较, 验证了此算法的有效性。
关键词: GPS;粒子滤波器;伪距;定位精度
中图分类号: TP228 文献标识码: A 国家标准学科分类代码:
Compensation of GPS non-Gaussian pseudorange error based on
improved particle filter algorithm
Tu Gangyi Jin Shijun Zhu Xuefen Song Aiguo
(School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China)
Abstract: Due to the multi-path effect in urban environment, GPS pseudorange error appears non-Gaussian error distribution. In this paper, the correct pseudorange error distribution model has been established according to the analysis of the measured data. Based on this non-Gaussian model, an improved particle filter algorithm is implemented pensate the non-Gaussian pseudorange error and optimize the estimations of PVT. The accuracy of GPS urban positioning is improved and the validity of this algorithm has been verified paring with Kalman filter experiments.
Keywords: GPS; particle filter; pseudorange; positioning accuracy
1 引言
目前, 全球定位系统(global positioning system, GPS)在军事和民用方面均得到了越来越广泛的运用。GPS定位技术要求接收机和卫星之间无遮挡, 但在城市环境中, 由于伪距测量会受到多径效应的影响, 造成信号延迟, 从而引入较大误差, 影响定位精度。统计实验结果显示, 受到多径效应影响的伪距误差, 其误差分布为非高斯分布[1]。常规卡尔曼滤波方法不能用来对非高斯的误差进行修正。粒子滤波作为一种非线性滤波方法, 随着采样粒子数的不断增