抗野值Kalman滤波在靶场测量数据处理中的应用

在无人机飞行参数测量中,由于杂波等各种偶然因素的影响,往往使测量数据中存在着大量的野值,从而造成测量数据的严重失真甚至使滤波过程发散.通过对测量数据新息序列的分析,提出了野值判定的方法,并通过对新息序列进行修正来消除野值的影响.Matlab仿真的结果表明该方法可以有效判别和修正野值,提高了滤波精度.

Application of Outlier Rejecting Kalman Filtering to Measurement Data Processing in Range

In the flying parameters measurement of unmanned aerial vehicle （UAV）, sometimes a lot of outliers exist in the measurement data due to various occasional factors such as clutter, which will not noly cause serious distortion of measurement data, but also make the filtering course diver- gence. By means of the analysis to innovation sequence of measurement data, a method to judge out-liers is proposed, the influence of outliers is eliminated by correcting the innovation sequence in this paper. The result of Matlab simulation indicates that the outliers can be judged and corrected effectively through this method, and the filtering accuracy is improved.