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Methods for Outlier Detection of Kalman Filtering
Author(s): 
Pages: 204-208
Year: Issue:  2
Journal: JOURNAL OF EARCH SCIENCES AND ENVIRONMENT

Keyword:  观测异常动力模型异常异常检验Kalman滤波;
Abstract: 为了检测动态导航观测异常和动力学模型异常,采用预测残差构造观测误差和动力学模型误差整体检验法,对观测异常可分别采用以模型为准的观测异常检验、以当前历元可靠观测为基准的异常检验或以Kalman滤波估值为基础的异常检验的方法;对于动力学模型异常检验,可以分别采用状态不符值检验法、以状态参数Kalman滤波估值为基础的动力学模型异常检验或以可靠观测为基础的动力学模型误差整体检验的方法.分析了以上几种检验方法的特点,并用实测数据进行了检验.结果表明:在观测异常或动力学模型异常处,异常检验对导航数据精度有一定程度地提高.
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