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Positioning result filtering method and device

A positioning result and mean value filtering technology, which is applied in the field of satellite positioning, can solve the problems of poor filtering effect of positioning results and inability to meet the filtering requirements of positioning results in complex geographical areas, and achieve the effect of reducing positioning errors

Active Publication Date: 2012-09-19
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0011] In order to solve the problem in the prior art that the positioning result filtering effect is not good and cannot meet the filtering requirements of positioning results in complex geographical areas, the embodiment of the present invention provides a positioning result filtering method and device

Method used

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  • Positioning result filtering method and device
  • Positioning result filtering method and device

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Embodiment 1

[0048] Such as image 3 As shown, it is a principle flow chart of the positioning result filtering method provided in Embodiment 1 of the present invention, wherein,

[0049] Step 10, according to the speed input value of the receiver, determine the motion state of the receiver.

[0050] The receiver here is the positioning result receiver. In the process of collecting positioning results, the receiver also needs to measure its own speed and position information, and obtain the receiver speed measurement value and position measurement value. According to the speed input of the receiver value (velocity measurement) to determine the motion status of the receiver. Here, the motion state of the receiver is divided into two types: a static state and a motion state.

[0051] Step 20, according to the motion state of the receiver, set different weight distribution strategies.

[0052]The motion state of the receiver is divided into static state and motion state. According to diffe...

Embodiment 2

[0069] Such as Figure 4 As shown, the location result filtering device provided in Embodiment 2 of the present invention includes a speed judgment unit 100, a weight distribution unit 200, a Kalman filter unit 300, an average value filter unit 400, and an α filter unit 500, specifically as follows:

[0070] The speed judging unit 100 is configured to determine the motion state of the receiver according to the speed input value of the receiver.

[0071] The motion state of the receiver is divided into static state and motion state.

[0072] The weight allocation unit 200 is configured to set different weight allocation strategies according to the motion state of the receiver.

[0073] The weight distribution strategy here is actually the filtering strategy, that is, the parameters of the filter. According to the motion state of the receiver, the parameters of the filter are divided into static parameters and motion parameters, and the operation of the filter is set according...

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Abstract

The invention discloses a positioning result filtering method, which comprises the following steps of: determining a motion state of a receiver according to a speed input value of the receiver; setting different weight value distribution strategies according to the motion state of the receiver; performing Kalman filtering on a positioning result according to the weight value distribution strategies; performing mean filtering on the positioning result according to the weight value distribution strategies; and performing alpha filtering on the positioning result according to the weight value distribution strategies. The positioning result is subjected to combined filtering by various filters, the motion state of the receiver is judged according to a speed input value, and parameters of the filters are set according to the motion state of the receiver, so that a process of perfectly filtering the positioning result is realized. By the method disclosed by the embodiment of the invention, noise in the original positioning result is removed, the positioning error is greatly reduced, and the demand for real-time navigation is met.

Description

technical field [0001] The invention relates to the technical field of satellite positioning, in particular to a positioning result filtering method and device. Background technique [0002] In recent years, satellite positioning technology has been greatly developed. With the enhancement of hardware processing capabilities, receivers using GPS, Beidou, etc. for positioning have gradually entered the lives of ordinary people, bringing great convenience to people's travel. However, there are many error sources in the satellite navigation system itself, the main error sources include: ephemeris error, satellite clock bias, receiver measurement error, atmospheric error (including troposphere and ionosphere propagation delay), multipath effect error and other random Typical values ​​of pseudo-range errors (UERE, User-equivalent range error) caused by these error sources are shown in Table 1. [0003] Table I [0004] source of error 1σ error (m) satellite ...

Claims

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Application Information

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IPC IPC(8): G01S19/35
Inventor 邓中亮尹露杨磊席岳刘竞超
Owner BEIJING UNIV OF POSTS & TELECOMM