Aiming at the problems that currently,the hardware quality of low-cost terminals is poor,which makes the collected data affected by observation noise,multi-path effect,gross error,etc.,leading to poor quality and lack of stability,and it is difficult to achieve the purpose of high-precision positioning by conventional algorithms,the paper proposed a quartile adaptive Kalman filtering method that meets the characteristics of a low-cost terminal:the adaptive filtering model was refined,without standardizing the new information vector,the model of resistance to error was established by using the quartile method to dynamically determinate the threshold,and the variance expansion factor was calculated;then,the weights of observations were adjusted according to the resistance weight function,the coarse error was eliminated,and the positioning accuracy was improved.Experimental results showed that in static real time differential(RTD)mode,the accuracy of Mi 8 terminal in E,N and U direction would be improved by 46.2%,51.9%and 50.2%,respectively;in the static real time kinematic(RTK)mode,the accuracy of E,N and U direction would be improved by 38.5%,33.3%and 57.5%,respectively;in the pedestrian dynamic RTK mode,the accuracy of E,N and U direction would be improved by 56.6%,45.9%and 44.9%,respectively;in the on-board dynamic RTK mode,the accuracy of the T5 terminal in the E,N and U directions would be less than 1 m,with significantly improved positioning accuracy.
low-cost terminaldifferential positioningquartileresistance to erroradaptive filtering
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