Redundant measurement based method for online mitigation of GNSS multipath errors

被引：1
|
作者：
Ge B. [1 ]
Zhang H. [1 ]
Jin Y. [1 ]
机构：
[1] School of Automation Science and Electrical Engineering, Beihang University, Beijing
来源：
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | 2019年 / 41卷 / 11期
关键词：
Adaptive Kalman filtering; Global navigation satellite system (GNSS) multipath errors; Integrated navigation; Measurement noise covariance estimation;
D O I：
10.3969/j.issn.1001-506X.2019.11.22
中图分类号：
学科分类号：
摘要：
A mitigation method for global navigation satellite system (GNSS) multipath errors based on redundant measurement in intertial navigation system (INS)/GNSS integrated system is introduced to solve the problem of the GNSS measurement affected by multipath effects. This method includes an innovation-based chi-square test algorithm and an adaptive Kalman filter. According to the characteristic of the zero mean of the innovation, the chi-square test is used to detect the multipath error in GNSS measurement. When the multipath errors are detected, the adaptive filter can estimate GNSS measurement noise covariance by using the redundant measurement of INS to adjust the weights of measurements, which improves the filtering performance. Finally, the simulation and real test validate that the proposed method can effectively mitigate GNSS multipath errors and improve the accuracy of the navigation solution. © 2019, Editorial Office of Systems Engineering and Electronics. All right reserved.
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页码：2581 / 2587
页数：6
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