基于新息正交性的Kalman滤波抗野值法在POS中的应用

 针对位置姿态系统（POS）应用中全球定位系统（GPS）野值会降低滤波精度和稳定性的问题，提出将基于新息正交性的Kalman滤波（KF）抗野值法应用于POS数据处理中。该方法首先通过判断KF新息过程的正交性是否丧失来判别GPS的位置和速度数据中是否出现野值，然后采用活化函数对含有野值的量测值进行加权限制，使修正后的新息过程能够保持正交性质，从而达到辨识并修正GPS野值的目的。车载试验结果表明，该方法能够有效辨识并抑制GPS野值对滤波精度和稳定性的不利影响，其在GPS野值点处的位置、速度精度比标准KF提高了1~2个数量级。

Application of Modified Kalman Filtering Restraining Outliers Based on Orthogonality of Innovation to POS

Aiming at solving the problem that the accuracy and stability of Kalman fihering (KF) in a position and orientation system (POS) will be affected if there are outliers in global positioning system (GPS) outputs, this article proposes a method of KF restraining outliers based on orthogonality of innovation in the data processing of POS. This method detectes whether there are outliers in the position and velocity data of GPS by judging if the orthogonality of innovation is lost or not, and assigns an activation function as the weight to each element of measurement, which can keep the orthogonal properties of the innovation sequence and the outliers can be detected and corrected. Field-test results show that this method is effectively resistant to outliers in GPS data, and can obtain improvement of accuracy in position and velocity from ten to hundred times compared with conventional KF.