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引进时间遗忘因子和观测冗余度因子,有效地平衡移动窗口内不同时刻的观测数据及其冗余情况对单位权方差估值的贡献,改进单位权方差的移动开窗实时估计算法。采用载噪比模型确定观测权阵,等价权抗差估计方法处理粗差。实测车载GPS/Doppler数据的处理结果表明:采用本文算法显著提高GPS/Doppler的导航精度与可靠性。 更多还原

【Abstract】 A two-step method for estimating the stochastic model of GPS/Doppler integrated observation is proposed.Firstly,the robustly posterior estimation is introduced according to equivalent weight principle and carrier-to-noise ratio.Then,the variance of unit weight is estimated in a moving-window in real time by combining the forgetting factor and observation redundancy.Finally,a real vehicular GPS data is carried out to demonstrate the performance of the proposed method.The results show that the pre... 更多还原