ROBUST EKF AND ITS APPLICATION TO COMBINED GPS/BDS
KINEMATIC RELATIVE POSITIONING
1）School of Geoscience and InfoPhysics，Central South University，Changsha 410083
2）Key Lab of Precise Engineering of Surveying & Deformation Disaster Monitoring of Hunan Province，Changsha 410083
Abstract：Extended Kalman filter (EKF）algorithm is widely used in all kinds of nonlinear systems.However，EKF algorithm has high requirement to the quality of GNSS observation data.If observation data contains some gross errors，the convergence of EKF algorithm will be distorted.A combined method of robust estimation and EKF is proposed to deal with the gross errors in GNSS kinematic positioning.According to the test data，the new method can effectively control the influence of the gross errors and improve accuracy as 70% or more.
