增强的GNSS导航使用中心错误缩扩展卡尔曼波器在非高斯噪声环境中
Yi Chang1, Dah-Jing Jwo1,2, Bo-Yang Lee3
1Department of Electrical Engineering, National Taiwan Ocean University, Keelung 202301, Taiwan.
Sensors (Basel, Switzerland)
|February 27, 2026
概括
本研究介绍了集中错误延长卡尔曼波器 (CEE-EKF) 以提高全球导航卫星系统 (GNSS) 的准确性. CEE-EKF 提高了全球定位系统 (GPS) 在具有非高斯噪声和异常值的挑战性环境中的导航可靠性.
科学领域:
- 地理学工程 工程地质学
- 信号处理 信号处理
- 导航系统 导航系统
背景情况:
- 全球导航卫星系统 (GNSS),包括全球定位系统 (GPS),面临多路径效应的信号干扰,挑战精确的状态估计.
- 传统的扩展卡尔曼过器 (EKF) 在非高斯噪声环境中表现不佳,因为它们依赖最小平均平方误差 (MMSE) 标准.
- 现有的替代标准,如最小误差 (MEE) 和最大电流标准 (MCC),在处理偏差和实现最佳收方面存在局限性.
研究的目的:
- 开发一个增强的扩展卡尔曼波器 (EKF),克服了改善GNSS状态估计现有标准的局限性.
- 通过整合MEE和MCC的优势,引入集中错误 (CEE) 扩展卡尔曼波器 (CEE-EKF).
- 为了验证CEE-EKF在复杂,非线性GPS环境中与非高斯噪声和异常值的性能.
主要方法:
- 通过结合最小误差 (MEE) 和最大电流标准 (MCC) 原则,开发中心错误 (CEE) 标准.
- 将CEE标准集成到扩展的卡尔曼波器框架中,从而形成了CEE-EKF.
- 使用模拟复杂非线性GPS数据与非高斯噪声和异常情景进行实验验证.
主要成果:
- 与基于MEE和MCC的单个过器相比,CEE-EKF在降噪方面表现显著优越.
- 拟议的CEE-EKF表现出增强的稳定性和准确性,特别是在GPS可观测值中存在异常值时.
- 实验结果证实了CEE-EKF在具有非高斯噪声的复杂非线性GPS环境中的有效性.
结论:
- CEE-EKF提供了一种有效的解决方案,用于在具有挑战性的现实条件下提高GPS导航的可靠性.
- 该算法提供了对非高斯噪声和异常值的改进状态估计准确性和稳定性.
- 该CEE-EKF方法很容易扩展到其他全球导航卫星系统 (GNSS) 应用程序,需要可靠的状态估计.
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