基于自适应鲁棒扩展卡尔曼滤波器的北斗三号PPP-B2b性能综合分析

doi:10.1007/s12204-023-2664-1

摘要/Abstract

摘要： 北斗三号导航系统使用B2b信号为中国及周边地区的用户提供实时精确点定位服务（PPP）。本文首先对PPP-B2b服务的性能进行了实验分析，然后建立无电离层模型。为了解决PPP收敛慢的传统问题，开发了一种自适应鲁棒扩展卡尔曼滤波（AREKF）算法。与误差补偿模型不同，它通过调整测量值的协方差矩阵和状态向量的权重矩阵实时反映噪声信息。最后，对实验结果进行了分析。实验评估结果表明，PPP-B2b校正可以显着降低广播星历更新引起的轨道和时钟的不连续性误差。定位结果表明，AREKF在静态和仿动态条件下均优于EKF。精确度提高了约20%，收敛速度提升了约25%，这对PPP的研究具有重要价值。

关键词: 精密单点定位, PPP-B2b改正数, 北斗三号, 自适应鲁棒扩展卡尔曼滤波, 精度评估

Abstract: Beidou-3 navigation satellite system (BDS-3) initiated a real-time service for precise point positioning (PPP) using the B2b signal, mainly for users in China and surrounding areas. In this paper, the performance of PPP-B2b service is experimentally analyzed first. Then, the ionosphere-free model is established. In order to solve the problem of slow convergence for traditional PPP, an adaptive robust extend Kalman filter (AREKF) algorithm is developed. Unlike the error compensation models, it reflects the noise information in real time by adjusting the covariance matrix of the measurements and the weight matrix of the state vector. The experimental results are analyzed last. Evaluation results indicate that the corrections provided by PPP-B2b can significantly reduce the discontinuous error of the orbits and clock offsets caused by broadcast ephemeris updating. Positioning results confirm that AREKF outperforms EKF both in static and kinematic modes. Around 20% improvement in accuracy and 25% improvement in convergence speed are achieved, making it valuable for PPP processing.

中图分类号:

TN967.1

. 基于自适应鲁棒扩展卡尔曼滤波器的北斗三号PPP-B2b性能综合分析[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(6): 1208-1219.

WAN Yuan, MAO Xuchu. Comprehensive Analysis of Beidou-3 PPP-B2b Performance Based on Adaptive Robust Extend Kalman Filter[J]. J Shanghai Jiaotong Univ Sci, 2025, 30(6): 1208-1219.

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