【作者】 宋迎春；

【Author】 Song Yingchun (School of Info Physics and Geomatics Engineering,Central South University,Changsha 410083)

【机构】 中南大学信息物理工程学院；

【摘要】 抗差自适应滤波的关键问题是构造自适应因子,在给定显著水平a下,通过对滤波是否存在异常进行假设检验,设计了一个动态自适应因子来平衡动力学模型信息与观测信息的权比,以及控制动力学模型误差对导航参数解的影响,从而给出了带有置信度的抗差自适应滤波算法。模拟和实例验证了算法的有效性和优良性。更多还原

【Abstract】 In a robustly adaptive Kalman filter,the key problem is to construct an adaptive factor.At givenαsignificant level,an adaptive factor is devised based on outlier hypothesis testing for model in order to balance the contributions of the kinematic model information and the measurements on the state vector estimates.So a robustly adaptive Kalman filter algorithm is given.These are analyzed and compared in theory and in an actual example.This shows,through the actual computations,that the filtering results obtained by given adaptive factors are superior to those obtained adaptive factors.更多还原