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中文摘要：
首先，针对伪卫星导航系统距离用户较近的特点，对伪卫星定位系统非线性观测方程的线性化进行了误差分析，指出伪卫星数据处理顾及线性化误差影响的必要性。其次，针对迭代EKF（IEKF）算法受观测信息影响较大的问题，基于观测信息、等价协方差矩阵原理给出了一种改进的IEKF算法。最后，利用仿真数据验证了改进的迭代EKF算法能够较好地抑制观测信息异常对滤波解的影响。
英文摘要：
Firstly, the linearization error of non-linear observation equations of Pseudolite navigation system, resulting from the nearer distance between Pseudolites and users, is analyzed in detail, and the importance of considering linearization error in pseudolite data processing is pointed out. Then, the shortcomings of IEKF algorithm are also analyzed. Further more, an improved IEKF algo- rithm, based on the principle of equivalent covariance matrix of observational vector, is put forward. It is shown, by derivations and calculations, that the improved IEKF algorithm can not only improve the filter estimation accuracy, but also control the influences of measurement outliers.
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