Abstract: Square Root Cubature Kalman Filter（SRCKF）exhibits excellent?numerical stability and efficiency. In order to improve the precision of the filtering when the dynamic model is inaccurate, this paper applies two kinds of adaptive factors to decrease the weight of the forecasting information, and the algorithm is used to process the data of GPS dynamic single point positioning. Finally, GPS pseudo-range observations of aerial photography craft are used to verify that the algorithm is useful.

Key words: cubature rule, square root filter, adaptive factor, dynamic single point positioning

摘要： 平方根容积卡尔曼滤波具有良好的数值稳定性与滤波效率，针对滤波中状态函数与实际不符带来的误差对滤波造成的影响，将基于预测残差统计量的自适应因子和最优自适应因子与平方根容积卡尔曼滤波算法相结合以降低预测信息在滤波中的权重，并将平方根容积卡尔曼滤波与带自适应因子的平方根容积卡尔曼滤波用于GPS动态单点定位数据处理，最后用航摄飞机实测GPS动态观测数据验证了算法的有效性。

关键词: 容积准则, 平方根滤波, 自适应因子, 动态单点定位