Application of moving horizon estimation method for altitude constrained pseudo-range single-point positioning
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摘要: 针对目前全球卫星导航系统(GNSS)中伪距单点定位(SPP)技术的定位精度已不能满足现代大多数应用场景的需求，提出了一种附加高度约束的滚动时域估计(MHE)算法，以此来改善SPP的定位性能. 附加高度约束的MHE算法是将接收机的位置高度作为非线性约束加入到SPP的估计参数中，并采用近似MHE算法来进一步提高定位精度的优化算法. 结果表明：高度约束的MHE滤波比传统最小二乘(LS)的滤波具有更好的平滑特性，同时随其视窗大小的增加，其定位精度得到了进一步改善. 验证了附加高度约束MHE方案的有效性、可行性，所得结果对SPP的实际应用具有重要的参考意义.
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关键词:
- 全球卫星导航系统(GNSS) /
- 伪距单点定位(SPP) /
- 最小二乘(LS) /
- 高度约束 /
- 滚动时域估计(MHE)
Abstract: In order to improve the positioning performance of pseudo-range single-point positioning (SPP) technology in Global Navigation Satellite System (GNSS), a moving horizon estimation (MHE) algorithm with height constraint was proposed. On the basis of adding height as nonlinear constraint to SPP parameter estimation, constrained MHE algorithm is used to improve the accuracy of SPP. Experiments show that compared with the least squares (LS) method, the MHE filter based on high constraint has better smoothing performance, and the effectiveness and feasibility of MHE scheme with additional height constraints are verified. The results obtained are of great significance to the practical application of SPP. -
表 2 SPP定位误差RMS值
实验方案 LS/m MHE-2/m MHE-4/m X 1.11 0.21 0.20 Y 3.23 0.91 0.87 Z 1.01 0.23 0.26 3D 3.56 0.96 0.93 3D定位改善/% - 73.03 81.46 
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表 3 SPP定位误差RMS值
实验方案 LS/m MHE-2/m MHE-4/m X 3.81 2.53 1.95 Y 7.31 4.70 3.23 Z 4.14 3.11 2.26 3D 9.22 6.18 4.39 3D定位改善/% - 33.00 52.40
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