Moving Time-window Based Real-time Estimation Algorithm for the Stochastic Model of GPS/Doppler Navigation
Moving Time-window Based Real-time Estimation Algorithm for the Stochastic Model of GPS/Doppler Navigation
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作者：
Li Bofeng
提出了一种GPS/Doppler组合观测随机模型的两步估计方法，首先根据等效权原理和载噪比引入稳健后验估计，然后结合遗忘因子和观测冗余度，在真实的时间内，在移动窗口内估计单位权的方差，最后，利用该方法对GPS/Doppler组合观测的随机模型进行估计。以真实的车载GPS数据为例，验证了该方法的有效性，结果表明，该方法显著提高了导航解的精度和可靠性。
A two-step method for estimating the stochastic model of GPS/Doppler integrated observation is proposed.Firstly,the robustly posterior estimation is introduced according to equivalent weight principle and carrier-to-noise ratio.Then,the variance of unit weight is estimated in a moving-window in real time by combining the forgetting factor and observation redundancy.Finally,a real vehicular GPS data is carried out to demonstrate the performance of the proposed method.The results show that the present method improves the precision and reliability of navigation solutions significantly.