基于稳健MM估计的REKF RAIM算法

doi:10.3969/j.issn.1001-506X.2021.01.26

摘要/Abstract

摘要：

基于鲁棒扩展卡尔曼滤波(robust extended Kalman filter, REKF)的接收机自主完好性监测(receiver autonomous integrity monitoring, RAIM)对双星故障模式的检测及识别效果相对较差,尤其当故障矢量具有较高的空间一致性时, M估计的稳健性会受到极大破坏。针对这一问题,提出基于稳健MM估计的REKF RAIM算法, MM估计是兼具高崩溃污染率和高估计效率的两步抗差估计方法,首先采用具有高崩溃污染率的最小截断二乘(least trimmed squares, LTS)估计获得稳健性高的迭代初值和尺度参数,然后采用IGG III方案得到最终的参数估计值,并设计一种基于特征斜率的快速选星方法降低LTS估计的计算量。仿真结果表明,相比于基于M估计的REKF, MMREKF在双星故障模式下具备更高的稳健性,对双星故障模式有更好的检测与识别能力。

关键词: 卡尔曼滤波, 接收机自主完好性监测, MM估计, 双星故障模式, 特征斜率, 快速选星

Abstract:

The integrity monitoring of receiver autonomous (RAIM) based on robust extended Kalman filter (REKF) algorithm is relatively ineffective in detecting and identifying the double-fault mode, especially when the fault vectors have higher spatial consistency, the robustness of M-estimation is greatly damaged. To solve this problem, the REKF RAIM algorithm based on robust MM-estimation is proposed, and MM-estimation is a two-step robust estimation method with high breakdown point and high estimated efficiency. Firstly, the least trimmed squares (LTS) estimation with high breakdown point is used to obtain the robust iterative initial value and scale parameter, and then the IGG III scheme is used to obtain the final parameter estimates, and a fast satellite selection method based on characteristic slope is designed to lower the calculation of LTS estimation. Simulation results show that MMREKF has higher robustness and better ability of detecting and identifying for double-fault mode compared with REKF based on M-estimation.

Key words: Kalman filter, receiver autonomous integrity monitoring (RAIM), MM-estimation, double-fault mode, characteristic slope, fast satellite selection

中图分类号:

V249.31

王文博, 徐颖. 基于稳健MM估计的REKF RAIM算法[J]. 系统工程与电子技术, 2021, 43(1): 216-222.

Wenbo WANG, Ying XU. REKF RAIM algorithm based on robust MM-estimation[J]. Systems Engineering and Electronics, 2021, 43(1): 216-222.

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监测算法	伪距偏差
监测算法	30	50	80	100
EKF RAIM	5.428	5.711	6.284	6.754
REKF RAIM	4.423	4.496	4.802	5.028
所提方法	3.945	3.952	3.934	3.936

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