非模型化误差实时处理：探测、补偿及控制

doi:10.11947/j.AGCS.2026.20250501

摘要/Abstract

摘要：

GNSS应用中存在难以通过差分和线性组合消除、经验模型改正、传统参数化吸收等有效补偿的非模型化误差，制约了定位、导航与授时（PNT）的精度和可信度。本文研究了包含探测、补偿及控制的GNSS非模型化误差实时处理框架，具体包括：基于先验、后验信息及多类指标，以模型和数据为驱动，设计了整体与分类的非模型化误差探测方法，给出了完整非模型化误差的显著性检验流程。结合实际观测场景，提出了基于函数模型和随机模型的弹性补偿方法，包括非模型化误差的免补、改正、固定、估计和加权模型。结合数据质量控制策略，提出了顾及非模型化误差的随机特性评估及质量控制方法。试验结果表明，GNSS非模型化误差实时处理能有效提升GNSS定位精度和可信度，为复杂条件下可信PNT提供了技术支撑，丰富了大地测量数据处理理论与方法体系。

关键词: 非模型化误差, 显著性检验, 函数模型补偿, 随机模型补偿, 质量控制

Abstract:

In GNSS applications, there exist unmodeled errors that cannot be effectively compensated by differencing and linear combination, empirical model correction, or traditional parameterization. These errors limit the precision and credibility of positioning, navigation, and timing (PNT). By leveraging a prior and posterior information as well as multiple indicators, and driven by both models and data, we design overall and source-specific detection methods for unmodeled errors and develop a complete significance testing procedure. Considering practical observation scenarios, we propose a resilient compensation method based on functional and stochastic models, encompassing strategies such as negligible, corrected, fixed, float, and weighted models for unmodeled errors. In combination with data quality control strategies, we further develop stochastic characterization and quality control methods considering the unmodeled errors. Experimental results demonstrate that the proposed real-time processing of GNSS unmodeled errors can effectively improve GNSS positioning accuracy and credibility. This work provides technical support for credible PNT under complex conditions and enriches the theoretical and methodological system of geodetic data processing.

Key words: unmodeled errors, significance testing, functional model compensation, stochastic model compensation, quality control

中图分类号:

P228

李博峰, 章浙涛. 非模型化误差实时处理：探测、补偿及控制[J]. 测绘学报, 2026, 55(5): 776-786.

Bofeng LI, Zhetao ZHANG. Real-time processing of unmodeled errors: detection, compensation, and control[J]. Acta Geodaetica et Cartographica Sinica, 2026, 55(5): 776-786.

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链接本文: http://xb.chinasmp.com/CN/10.11947/j.AGCS.2026.20250501

http://xb.chinasmp.com/CN/Y2026/V55/I5/776

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模型	定位误差/m
模型	E方向	N方向	U方向
非模型化误差免补模型	0.675 3	0.999 6	2.157 7
非模型化误差改正模型	0.471 9	0.629 4	0.786 1
非模型化误差加权模型	0.248 2	0.240 8	0.470 1

模型	定位误差/m
模型	E方向	N方向	U方向
非模型化误差免补模型	0.301 9	0.759 4	3.240 7
非模型化误差改正模型	0.264 4	0.988 3	0.580 3
非模型化误差加权模型	0.171 0	0.047 0	0.204 0