Abstract:For the BDS/GPS integrated positioning system, each sub-system needs proper weight allocation, which, however, can be inaccurate due to the difference between systems. To improve the accuracy of the integrated positioning, this paper proposes an integrated positioning algorithm based on the robust Helmert-variance-component estimation, namely robust Helmert(RH). Firstly, we establish the Helmert-variance-component-posteriori estimation model. We distinguish the observed values with multi-type and different accuracy to achieve dynamic allocation of sub-system weight. Then, to adjust the weight of the observed values with gross errors, we construct an improved equivalent power function based on IGGⅢ scheme. This solves the convergence distortion problem in Helmert model owing to gross observation errors. Finally, by collecting and testing the actual data observed by the dual system, we verify the effectiveness and accuracy of the algorithm.
XU Zheng,WAN Shenglai,GUOQiang et al. Application of Robust Helmert Estimation in Weight Ratio Allocation of BDS/GPS Integrated Positioning[J]. jgg, 2022, 42(7): 740-744.