Thirdly , an ideal satellite orbit is simulated , and on this foundation , we establish some typical simulation and testing circumstances . lastly , after simulation in the simulation and testing circumstances , we compare the performance of ukf and ekf . and then , based on the outdoor experiment of the vehicle , an analysis and contrast between our simulation results and commercial data process software is carried out , and the conclusion is obtained 首先在第三章提出的目标运动模型的基础上建立了系统状态方程;其次简要分析了卫星导航系统中的各类误差,建立了基于伪距观测量的系统观测模型;第四节利用yuma格式历书数据模拟了未受摄动影响的卫星轨道,并在此基础上建立了几种典型的动态仿真测试环境;第五节为仿真分析和比较,先对ukf算法和ekf算法在动态仿真测试环境中进行了仿真比较,然后针对外场试验,对非线性滤波获得的定位结果与商业软件进行了分析比较,并得出结论。
Due to complex and varied geological conditions for 4 headrace tunnels at zipingpu project , real time monitoring technique was used during informatization construction according to new austrian tunneling method , system observation for typical sections was conducted by following in - situ construction , based on which inverse analysis for rock mechanics parameters was conducted 针对紫坪铺工程4条引水发电隧洞复杂多变的地质条件，采用新奥法隧洞信息化施工中倡导的实时动态监测技术，跟踪现场施工进行了典型断面的系统观测，在此基础上进行了围岩宏观力学参数的反分析研究。
