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测绘学报  2015 

自适应抗差Kalman滤波在多天线原始观测值瞬时姿态确定中的应用

DOI: 10.11947/j.AGCS.2015.20140492, PP. 945-951

Keywords: 自适应抗差滤波,分类自适应因子,多天线,瞬时解算,误差四元数,失准角

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Abstract:

由载波相位观测值直接解算姿态能实现观测及姿态约束信息的最优利用。本文推导了基于失准角及乘性误差四元数的载波相位观测模型,分别建立了有外部角速度传感器和无外部传感器辅助下姿态参数估计的状态模型;利用自适应抗差滤波估计姿态误差,借鉴分类自适应因子的思想,分别确定模糊度和姿态误差参数的自适应因子,其中姿态自适应因子由Ratio值构造的三段函数确定。自适应抗差滤波能够充分利用约束信息和历史信息,将其融合在浮点解计算过程中,极大提高模糊度浮点解精度及其协方差的结构,在此基础上使用整数最小二乘模糊度降相关平差法(least-squaresambiguitydecorrelationadjustment,LAMBDA)方法即能快速搜索出固定解,满足实时性需求。采用实测舰载GNSS3天线测姿算例对方法进行了验证,结果表明,基于自适应抗差滤波的观测值直接定姿方法效率高、可靠性好。

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