Open Access
 Issue JNWPU Volume 40, Number 1, February 2022 103 - 109 https://doi.org/10.1051/jnwpu/20224010103 02 May 2022

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## 3 自适应抗差CKF滤波算法

1) 系统干扰估计算法

2) 滤波发散抑制算法

### 3.2 基于自适应抗差的改进设计

step1   容积点和权值计算

step2   时间更新

step3   量测更新

step4   发散判断

(28) 式是发散的判断依据, 如果根据公式判断发散就按照(29)~(32)式修正Pk/k-1, 如果不发散就继续下一步。

## 4 验证与分析

### 4.1 仿真测试与验证

1) 在某段时间内, 速度观测量增加3 m/s粗差, 且在对滤波采样时进行频率增加, 设置仿真时间为300 s, 分别比较2种方法。仿真结果见图 1~3

2) 基于第1)组仿真条件, 假定Q′=10Q, 分别比较加入抗差和未加入抗差的2种方法, 仿真时间300 s。仿真结果见图 4~6

 图1东向失准角估计误差曲线
 图2北向失准角估计误差曲线
 图3方位失准角估计误差曲线
 图4东向失准角估计误差曲线
 图5北向失准角估计误差曲线
 图6方位失准角估计误差曲线

### 4.2 实物测试与验证

 图7方位失准角估计误差曲线

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## All Figures

 图1东向失准角估计误差曲线 In the text
 图2北向失准角估计误差曲线 In the text
 图3方位失准角估计误差曲线 In the text
 图4东向失准角估计误差曲线 In the text
 图5北向失准角估计误差曲线 In the text
 图6方位失准角估计误差曲线 In the text
 图7方位失准角估计误差曲线 In the text

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