改善单基站CORS RTK测量精度的自适应卡尔曼滤波算法
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摘要
针对单基站CORS RTK在矿山开采沉陷地表移动变形监测中测量精度偏低的问题,构建基于方差分量估计原理的自适应卡尔曼滤波算法,以CORS RTK在各历元采集的平面坐标与正常高为基础,利用CORS RTK实测数据并对比分析四等水准测量成果,分析得出滤波后的CORS RTK测量精度得到了较大的提高,并满足矿山开采沉陷地表移动变形监测的精度要求。
For the single base station CORS RTK has low measurement accuracy in surface deformation monitoring of mining subsidence,an adaptive Kalman filter algorithm based on variance estimation principle is constructed.Correspondence CORS RTK is used to collect the plane coordinates and normal height of each epoch.Based on the actual CORS RTK measured data and comparative analysis results of the fourth-class level measurement,the CORS RTK measurement accuracy after filtering has been greatly improved,which meets the accuracy requirements for surface movement deformation monitoring of mining subsidence.
For the single base station CORS RTK has low measurement accuracy in surface deformation monitoring of mining subsidence,an adaptive Kalman filter algorithm based on variance estimation principle is constructed.Correspondence CORS RTK is used to collect the plane coordinates and normal height of each epoch.Based on the actual CORS RTK measured data and comparative analysis results of the fourth-class level measurement,the CORS RTK measurement accuracy after filtering has been greatly improved,which meets the accuracy requirements for surface movement deformation monitoring of mining subsidence.
引文
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[7]吕伟才,高井祥,杭玉付,等.提高CORS RTK测量精度的卡尔曼滤波算法[J].煤矿开采,2016,21(2):90-94.
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[10]吴文坛,田挚,李哲,等.河北CORS在大比例尺倾斜航空摄影测量中的应用[J].测绘通报,2013(2):63-66.
[11]胡丛玮,刘大杰.基于方差分量估计原理的自适应卡尔曼滤波及其应用[J].测绘学院学报,2002,19(3):15-18.
[2]尹航,朱纪洪,周池军,等.基于Kalman预报观测器的增量动态逆控制[J].清华大学学报(自然科学版),2014(12):1534-1538.
[3]杨元喜.动态Kalman滤波模型误差的影响[J].测绘科学,2006,31(1):17-18.
[4]刘经南,刘辉.连续运行卫星定位服务系统-城市空间数据的基础设施[J].武汉大学学报,2003(3):259-264.
[5]吕伟才,蒋法文,杭玉付,等.改善移动终端测量精度的卡尔曼滤波算法[J].导航定位学报,2016,4(2):47-52.
[6]余学祥,吕伟才.抗差卡尔曼滤波模型及其在GPS监测网中的应用[J].测绘学报,2001,30(1);27-31
[7]吕伟才,高井祥,杭玉付,等.提高CORS RTK测量精度的卡尔曼滤波算法[J].煤矿开采,2016,21(2):90-94.
[8]LU W C,XU S Q.Reasearch on Kalman filtering algorithm for deformation informantion series of similar single-difference model[J].Journal of China University of Mining and Technology,2004,14(2):189-194.
[9]马洪滨,孙军,周海壮,等.鞍山市连续运行参考站系统建设与定位精度分析[J].导航定位学报,2013,1(1):89-95.
[10]吴文坛,田挚,李哲,等.河北CORS在大比例尺倾斜航空摄影测量中的应用[J].测绘通报,2013(2):63-66.
[11]胡丛玮,刘大杰.基于方差分量估计原理的自适应卡尔曼滤波及其应用[J].测绘学院学报,2002,19(3):15-18.