朱坤,张羽佳,申奥,杨仕程,阳媛

• 1:东南大学仪器科学与工程学院
• 2:微惯性仪表与先进导航技术教育部重点实验室

摘要(Abstract)：

针对城市峡谷等复杂环境中GNSS信号易受多路径效应和非视距传播影响，导致RTK/INS紧组合导航系统定位精度下降甚至滤波发散的问题。提出一种基于信息扩散函数定权的抗差滤波算法。该方法在RTK/INS紧组合框架下，利用滑动窗口内的历史标准化新息样本，引入信息扩散原理重构观测噪声的实际概率密度函数；根据当前新息在分布中的相对可靠性，自适应确定抗差因子并调整量测噪声协方差，以抑制异常观测值的影响。城市峡谷环境下的车载实验结果表明，与标准EKF、M-M和IGG-Ⅲ方案相比，该算法能更有效地识别并抵御粗差干扰。统计数据显示，改进算法的三维定位均方根误差较标准EKF降低了约60.9%,且整体定位精度显著优于IGG-Ⅲ和M-M方案；在复杂遮挡场景下，最大定位误差被控制在0.6 m以内。本文算法无需迭代计算，能够自适应复杂的动态环境噪声分布，有效提升了组合导航系统的定位精度与鲁棒性。

关键词(KeyWords)： GNSS/INS组合导航;紧组合;信息扩散;抗差估计;自适应定权

Abstract:

Keywords:

基金项目(Foundation): 江苏省自然科学基金项目(BK20251350);; 中国交通建筑集团科技项目(2023-ZJSGJKJ-02)

作者(Author): 朱坤,张羽佳,申奥,杨仕程,阳媛

DOI: 10.16251/j.cnki.1009-2307.2026.11.004

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