三段判别域与最小二乘拟合的抗差滤波算法

doi:10.12305/j.issn.1001-506X.2021.05.23

Abstract

Abstract:

The satellite signal of integrated navigation system is susceptible to interference during the propagation process, which causes the satellite navigation observation value to fail. For this problem, according to the distribution state of the detection quantity, a robust filtering algorithm based on the principle of least squares fitting ia proposed, and the fault is divided into three discriminant domains, which are respectively no fault, deviation and out of tolerance. No processing is performed when there is no fault. When there is a deviation, the observation value is reduced in weight. For out of tolerance, a fitting function composed of the measured values at the previous few moments is used to extend a moment, instead of the fault observation value at the current moment. The simulation results show that the three discriminant domain has more processing for deviation than the two discriminant domain, and the navigation accuracy is improved. When an out of tolerance situation occurs in a continuous time, compared to the use of the reduced weight method, the robust filtering algorithm based on the least square fitting has higher navigation accuracy and better stability.

Key words: integrated navigation, Kalman filtering, chi-square test, least square fitting

CLC Number:

V448

Baojie CAI, Lei SHAO. Robust filtering algorithm based on three discriminant domain and least squares fitting[J]. Systems Engineering and Electronics, 2021, 43(5): 1346-1353.

Figures/Tables 21

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显著性水平α	阈值T(1)
0.975	0.001
0.950	0.004
0.900	0.016
0.750	0.102
0.250	1.323
0.100	2.706
0.050	3.841
0.025	5.024
0.010	6.635
0.005	7.879

	抗差滤波	无抗差滤波
东向位置误差/m	-11.8~6.06	-25.8~32.6
北向位置误差/m	-6.64~7.54	-20.5~34.9
天向位置误差/m	-2.62~2.57	-7.9~13.9
东向速度误/(m/s)	-0.3~0.3	-1.16~1.11
东向速度误差/(m/s)	-1.3~1.2	-1.8~5.2
东向速度误差/(m/s)	-0.2~0.3	-0.8~1.11

	降权法	拟合法
东向位置误差/m	-6.86~5.41	-8.11~12.09
北向位置误差/m	-4.89~9.74	-8.26~8.58
天向位置误差/m	-2.72~6.52	-3.65~2.37
东向速度误差/(m/s)	-0.30~0.25	-0.38~0.41
东向速度误差/(m/s)	-0.63~0.68	-0.67~1.06
天向速度误差/(m/s)	-0.15~0.11	-0.17~1.18

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Robust filtering algorithm based on three discriminant domain and least squares fitting

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