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Robust structured total least squares algorithm for passive location

Journal of Systems Engineering and Electronics 2015年第5期26卷 946-953页

作者： Hao Wu Shuxin Chen Yihang Zhang Hengyang Zhang Juan Ni Information and Navigation College Air Force Engineering University Unit 94303 of PLA

A new approach called the robust structured total least squares(RSTLS) algorithm is described for solving location inaccuracy caused by outliers in the single-observer passive location. It is built within the weighted structured total least squares(WSTLS)framework and improved based on the robust estimation ***, the improved Danish weight function is proposed according to the robust extremal function of the WSTLS, so that the new algorithm can detect outliers based on residuals and reduce the weights of outliers automatically. Finally, the inverse iteration method is discussed to deal with the RSTLS problem. Simulations show that when outliers appear, the result of the proposed algorithm is still accurate and robust, whereas that of the conventional algorithms is distorted seriously.

关键词： passive location structured total least squares robust estimation equivalent weight function

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Robust range-parameterized cubature Kalman filter for bearings-only tracking

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Journal of Central South University 2016年第6期23卷 1399-1405页

作者：吴昊陈树新杨宾峰罗玺 Information and Navigation College Air Force Engineering University

In order to improve tracking accuracy when initial estimate is inaccurate or outliers exist,a bearings-only tracking approach called the robust range-parameterized cubature Kalman filter(RRPCKF)was ***,the robust extremal rule based on the pollution distribution was introduced to the cubature Kalman filter(CKF)*** improved Turkey weight function was subsequently constructed to identify the outliers whose weights were reduced by establishing equivalent innovation covariance matrix in the ***,the improved range-parameterize(RP)strategy which divides the filter into some weighted robust CKFs each with a different initial estimate was utilized to solve the fuzzy initial estimation problem *** show that the result of the RRPCKF is more accurate and more robust whether outliers exist or not,whereas that of the conventional algorithms becomes distorted seriously when outliers appear.

关键词： bearings-only tracking nonlinearity cubature Kalman filter numerical integration equivalent weight function

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Performance Analysis of Robust Tightly Coupled GNSS/INS Integration Positioning Based on M Estimation in Challenging Environments

Performance Analysis of Robust Tightly Coupled GNSS/INS Inte...

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第十三届中国卫星导航年会

作者： Yingying Jiang Shuguo Pan Qian Meng Min Zhang Wang Gao Chun Ma School of Instrument Science and Engineering Southeast University State Key Laboratory of Smart Grid Protection and Control Nari Group Corporation

The phenomena of limited satellite visibility and multipath is serious in challenging environments,which causes to decrease of the positioning accuracy *** effective solution is tightly coupled integration of Global Navigation Satellite Systems（GNSS） and Inertial Navigation System（INS） based on robust M ***,the robust performance is directly influenced by both the selection of equivalent weight functions and the INS accuracy *** this paper,theoretical analysis and experiment validation of positioning accuracy and reliability for the robust integration system are implemented under the condition of various equivalent weight functions and different INS ***,for constructing equivalent least square form of EKF,we combine classical EKF observation equation with redundant observation equation established by predicted state and corresponding covariance in propagation ***,robust extended Kalman filter（REKF） algorithm which is based on M estimation is introduced for purpose of weakening the influence of faults on ***,the features of three typical equivalent weight functions（Huber,Tukey,IGG-Ⅲ） are analyzed ***,a simulation experiment platform is built to analyze the influence of the choice of equivalent weight functions and the IMU grades on positioning accuracy and reliability,which is realized by integrating GNSS and various grades IMU to locate with three REKF solutions against traditional *** experimental results show significant enhancements for REKF based on M estimation in terms of precision and reliability of tightly coupled ***,in the setting failure scenario,the solution scheme based on IGG-Ⅲ equivalent weight function can obtain the optimal robust effect in comparison with REKF（Huber） and REKF（Tukey）,whose horizontal positioning accuracy is kept within-0.5 m ～ 0.5 m and vertical positioning accuracy is no more than 1 ***,compared with consumer grad

关键词： Extended Kalman Filter equivalent Least Square M Estimation equivalent weight function INS

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