基于卡尔曼滤波器残差的矢量跟踪完好性研究

针对接收机跟踪卫星导航信号时可能发生的各类故障，利用卡尔曼滤波器的残差观测量进行滤波，通常可以在不借助冗余观测量的情况下快速检测和隔离故障。建立软件接收机平台，利用卡尔曼滤波器进行导航信号的矢量跟踪，在跟踪环中模拟故障的发生并依靠残差序列滤波的方法检测并排除错误观测量。实验表明，在算法模拟的短时较大幅度干扰下，完好性监测方法可以快速检测并排除错误观测量对环路跟踪的影响，且无需冗余观测量。

Research on integrity technology of vector tracking using Kalman filter residual

In view of the various faults that may occur while tracking the satellite navigation signal, the residual observations of the Kalman filter are used for filtering, and the faults can usually be quickly detected and isolated without the use of redundant observations. This paper establishes a software receiver platform, uses Kalman filter for vector tracking of navigation signals, simulates the occurrence of faults in the tracking loop and relies on residual sequence filtering to detect and eliminate erroneous observations. Experiments show that under the short-term and large-scale interference simulated by the algorithm, the integrity method can quickly detect and eliminate the influence of erroneous observations on loop tracking without redundant observations.