适用于矢量接收机的模糊自适应CKF方法研究

卫星导航接收机矢量跟踪环路的核心就是用一个Kalman滤波器将标量接收机的信号跟踪和导航解算一起完成，优点是能够形成通道之间的相互辅助，缺点是也会相互影响。尤其在部分卫星信号被遮挡或者部分通道信号质量较差的环境下，问题通道会影响其他通道，甚至导致矢量跟踪环路滤波器发散，常规的方法是检测故障通道然后将故障通道剔除，这样需要对导航滤波器进行变维操作。针对此问题，提出了一种新的消除问题通道对其他通道影响的方法，同时不需要对导航滤波器进行变维。首先给出了一种标度因子，用来判断通道是否存在故障通道，然后给出一种利用模糊控制的导航滤波器自适应调整方法。仿真表明,在通道卫星信号被频繁遮挡的极端情况，矢量接收机依旧能保持正常的导航精度，并没有明显受到误差通道的影响，同时避免了对导航滤波器进行变维操作。

Fuzzy Adaptive CKF Method for Vector Receiver

The core of a satellite navigation receiver vector tracking loop is to employ a Kalman filter to accomplish the signal tracking and navigation solution together. In this way, the information between channels makes it possible for the aiding from channels with strong signals to the channels with weak signals. However, the fault channels will also cause bad influence on other channels and the errors spread among all the channels especially during the signal blockages. For the errors spreading among channels, this paper employs a fuzzy adaptive Kalman filter to weaken the bad influence. Firstly, a scaling factor is used to determine whether the channel is faulty, and then an adaptive navigation filter is designed. Simulation results show that the vector tracking receiver is still able to maintain normal navigation accuracy and not significantly affected by error channel even if part of the satellite signals are blocked.