gps导航解算中函数模型的研究及其应用-大地测量学与测量工程专业毕业论文.docx

堡茎查堂堡主兰垡丝苎 ABSTRACT
This dissertation mainly studies ional models and putation algorithms in GPS kinematic data main works and contributions are summarized as follows:
key problems of functional models in GPS nayigation and positioning are analyzed based on the actual vehicle is shown by analysis that it is necessary to select the reasonable functional models in kinematic positioning.
algorithms in fitting the systematic errors and covariance matrices in GPS navigation are mainly Kalman filtering for kinematic positioning,the functional models may contain systematic errors or local systematic they exist some systematic errors,
the standard galman filtering cannot resist the influences of the
systematic errors on the estimated states of a reasonable functional model should be constructed to improve the accuracy of estimated states.
kinematic models of the vehicle movements are introduced and the adaptive factors based on ponents estimation are investigated,then a linear adaptively robust Kalman fiiter based on the current statistical model and ponents estimation is set up.
order to avoid estimating the covariance matrices三Ⅳof the
functional model errors and三d of the observational errors respectively
time series equivalent weight based o缸)dobust M-estimator
is applied in the process of Self—Tuning Kalman filtering to resist the
influences of outl iers on model ing parameters,and then the robust Self Tuning Kalman'filtering is method not only adapti)ely estimates the state vector,but also guarantees the reliability of the
ⅡI
丝窭茎兰璧圭堂垡丝塞
kinematic state estimates
,the nonlinear Kalman fiiter is analyzed in GPS navigation. The global nonlinear LS closed arithmetic--Bancroft numerical algorithm is introduced and the ing of GPS two—stage fiiter is analyzed,then
Key words:GPS Navigation System:Robust Estimation:ponent Estimation:Ad