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| Robust positioning technique based on sparse assumption |
| ZHANG Xin, CUI Xiao wei, FENG Zhen ming |
| Department of Electronic Engineering, Tsinghua University, Beijing 100084, China |
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Abstract A new fault detection and elimination algorithm based on sparse assumption was proposed in order to obtain robust positioning results when multiple blunders exist in pseudo ranges. The algorithm can calculate the error for each range measurement under the sparse constraint on the number of blunders by applying the projection from range error to the residuals. The calculated errors were used to modify the primary positioning result, and the robust positioning result was obtained. Simulations were performed in various numbers of visible satellites as well as blunders. Results show the effectiveness of the proposed method to detect multiple blunders and the ability to improve the positioning accuracy when there are enough visible satellites.
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Published: 29 October 2015
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基于稀疏故障假设的鲁棒定位方法
为了使接收机在多个故障伪距存在时能够提供鲁棒的定位结果,提出基于稀疏假设的故障检测与排除算法.该方法利用定位解算残差与伪距误差之间的映射关系,通过对故障观测量的个数进行稀疏约束,使用稀疏算法直接求解所有观测量的伪距误差.利用伪距误差计算结果修正初始的定位结果,实现鲁棒定位.在不同的可见卫星数和不同的故障卫星数下进行仿真.仿真结果表明,当可见卫星数量较多时,使用该算法能够对多个故障观测量进行有效的检测,提升定位结果的准确性.
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