自动化学报2025，Vol.51Issue(2)：366-375,10.DOI:10.16383/j.aas.c240384
面向RTK定位的整数约束型渐进高斯滤波方法
Integer-constrained Progressive Gaussian Filtering Method for RTK Positioning
摘要
Abstract
This paper investigates the issue of real-time kinematic(RTK)integer ambiguity resolution under satel-lite signal interference and proposes an RTK positioning method based on integer-constrained progressive Gaussian filtering.Firstly,by combining the advantages of Bayesian inference and homotopy methods,a progressive Gaussi-an filtering framework that is compatible with both integer and floating-point states is derived.Secondly,a homo-topic path is constructed from the prior distribution to the posterior distribution,and the target floating-point state and ambiguity resolution is solved iteratively for improving the integer ambiguity fixed rate under signal interfer-ence conditions.Specifically,the linearization error is reduced by progressively fusing satellite double-difference in-formation,thus enhancing the approximation accuracy of the posterior distribution of the target state.Finally,the effectiveness and superiority of the proposed method are validated through vehicle-mounted RTK experiments and post-processing analysis.关键词
渐进高斯滤波/RTK定位/模糊度固定/整数约束Key words
Progressive Gaussian filtering/RTK positioning/ambiguity resolution/integer-constrained引用本文复制引用
杨旭升,李唯诣,张文安..面向RTK定位的整数约束型渐进高斯滤波方法[J].自动化学报,2025,51(2):366-375,10.基金项目
国家自然科学基金(62473335),浙江省自然科学基金(LY23F030006),中国博士后科学基金(2024M752864)资助Supported by National Natural Science Foundation of China(62473335),Natural Science Foundation of Zhejiang Province(LY23F030006),and China Postdoctoral Science Foundation(2024M752864) （62473335）
