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1、上海交通大学硕士学位论文基于非线性模型的单机GPS定位估计方法的研究姓名：武静申请学位级别：硕士专业：导航、制导与控制指导教师：茅旭初20080101上海交通大学硕士学位论文摘要实时输出定位估计结果的需要，提出了卡尔曼滤波—平滑迭代算法。本文的研究工作，可用于GPS软件接收机中实时输出高精度定位数据的定位解算，以及高性能接收机中定位解算方法的改进。关键词：全球定位系统（GPS），扩展卡尔曼滤波（EKF），平淡卡尔曼滤波（UKF），超球面平淡卡尔曼滤波（SUKF），卡尔曼滤波平滑迭代II上海交通大学硕士学位论文摘要RESEARC
2、HONNONLINEARALGORITHMFORIMPROVINGGPSPOSITIONINGPRECISIONABSTRACTGlobalPositioningSystem(GPS)istheonlyperfectkindofnew-generationprecisesatellitenavigationsystem.GPShasbeenwidelyconcernedonmilitaryandtheciviliansinceitwasused,whichhasbeendevelopedrapidly,foritscharac
3、teristicsofprovidingall-global,continuous,real-timeandhighaccuracy3-Dpositioningandvelocityaswellastime.Currently,itiswidelyappliedinmanyfields,suchasaerospace,aviation,maritime,vehiclenavigation,geographicpositioning,surveyingandsoon.Withthedevelopmentofnavigationa
4、ndpositioning,inrecentyears,peoplehavehigherdemandsfortheGPSpositioningprecision.Now,thehighestaccuracyofstand-aloneGPSreceiverisabout10to15meters,andwhenGPSreceiverwasintheurbancanyon,thenumberofsatellitesignalswhichwasreceivedmaybelessthan4,sothepositioningwasimpo
5、ssible.Thepositioningaccuracyofstand-aloneGPSreceiverislowsincetherearemanyerrorsourcesduringthesignaltransferringfromGPSsatellitetoGPSreceiver.Thefocusofthisthesiswasonmeasurementmodelandpositioningalgorithm.TheGPSpositioningaccuracywasimprovedbyestablishedcomplete
6、derrorrectificationmodelsandusedhighprecisionalgorithm.Theworkofthisthesiswasasfollow:1)TherectificationmodelsofionosphereandtropospherewereestablishedtoimprovethepositioningaccuracyofGPSreceiver.2)Asthevelocityofvehiclewaslowandthepositionchangedwassmallintheurbanc
7、anyon,hypothesiswasaddressthatthepositionofGPSreceiverindirectionofheightwasfixed.Thenheightequationwasaddedtomeasurementequationsso2-DGPSpositioningwasimplemented.3)UsingUnscentedKalmanFilter(UKF)asGPSpositioningestimationalgorithminsteadofIterativeLeastSquare(ILS)
8、andExtendedKalmanFilter(EKF).4)TheSphericalUnscentedKalmanFilter(SUKF)wasadoptedtoimprovethespeedofGPSpositioningestimatecalculation.Thisa
