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Marine Long Baseline GNSS Positioning Based on Distance-Constrained Robust Kalman Filter
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Yinze LAN1, Anmin ZENG1, 2, 3, *, Jia FANG1
Journal of Geodesy and Geodynamics | 2026, 46(8) : 971 - 978
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Journal of Geodesy and Geodynamics | 2026, 46(8): 971-978
Marine Long Baseline GNSS Positioning Based on Distance-Constrained Robust Kalman Filter
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Yinze LAN1, Anmin ZENG1, 2, 3, *, Jia FANG1
Affiliations
  • 1 School of Geological Engineering and Geomatics, Chang'an University, Xi'an 710054, China
  • 2 Xi'an Institute of Surveying and Mapping, Xi'an 710054, China
  • 3 State Key Laboratory of Spatial Datum, Xi'an 710054, China
Published: 2026-08-15 doi: 10.14075/j.jgg.2025.08.266
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Aiming at the significant multipath effect of GNSS at sea and the decline in observation data quality caused by various environmental factors, the performance of traditional Kalman filter algorithm is often significantly affected under such complex conditions. To improve the positioning accuracy in dynamic marine environment, we propose a robust Kalman filter baseline differential positioning model based on the IGGⅢ weighting function. Considering the marine platform has multiple receivers, distance constraint conditions are introduced to correct the filter solution, and the influence of constraint conditions on positioning results is analyzed. The model is verified through real measurement data. The results show that in long baseline differential positioning, the robust Kalman filter can effectively suppress gross error interference, and the positioning accuracy is significantly better than that of the traditional extended Kalman filter algorithm. After introducing distance constraints, the accuracy of positioning solution is further improved, verifying the effectiveness and practicality of this method in complex marine environments.

differential positioning  /  gross error  /  robust Kalman filter  /  long baseline  /  distance constraint
兰尹泽, 曾安敏, 方甲. 基于距离约束抗差卡尔曼滤波的海上长基线GNSS定位. 大地测量与地球动力学, 2026 , 46 (8) : 971 -978 . DOI: 10.14075/j.jgg.2025.08.266
Yinze LAN, Anmin ZENG, Jia FANG. Marine Long Baseline GNSS Positioning Based on Distance-Constrained Robust Kalman Filter[J]. Journal of Geodesy and Geodynamics, 2026 , 46 (8) : 971 -978 . DOI: 10.14075/j.jgg.2025.08.266
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Year 2026 volume 46 Issue 8
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Article Info
doi: 10.14075/j.jgg.2025.08.266
  • Receive Date：2025-08-05
  • Online Date：2026-10-30
  • Published：2026-08-15
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  • Received：2025-08-05
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Affiliations
    1 School of Geological Engineering and Geomatics, Chang'an University, Xi'an 710054, China
    2 Xi'an Institute of Surveying and Mapping, Xi'an 710054, China
    3 State Key Laboratory of Spatial Datum, Xi'an 710054, China
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https://castjournals.cast.org.cn/joweb/ddcl/EN/10.14075/j.jgg.2025.08.266
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表12种不同金属材料的力学参数
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小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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