Self-adaptive filtering method for carrier smoothed code pseudorange
A technology of adaptive filtering and code pseudorange, applied in the field of satellite navigation, can solve the problem of inability to accurately estimate the system noise error, and achieve the effect of avoiding excessive result error and excellent filtering effect.
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[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, and the present invention includes but not limited to the following embodiments.
[0036] Method provided by the invention comprises the following steps:
[0037] (1) Construct the basic equation of Kalman filter
[0038] The expression of the "α-β filter" carrier-smooth code pseudorange, such as formula (1), is changed equivalently, so that its structure is similar to the structure of the state estimation equation in the Kalman filter, such as formula (2).
[0039]
[0040] Thus, the expressions of the state estimation value, state estimation prediction value, filter gain, measurement value and measurement matrix in the Kalman filter are determined, which provides the basis for the subsequent design of the Kalman filter.
[0041] (2) Adaptive estimation of system noise error
[0042] Here, the maximum likelihood criterion is used to estimate and ada...
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