Sequential estimation in a real-time positioning or navigation system using historical states

A state estimation, positioning system technology, applied in satellite radio beacon positioning systems, navigation, positioning and other directions

Active Publication Date: 2015-02-25
OCT电路技术国际有限公司
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  • Abstract
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  • Claims
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Problems solved by technology

The disadvantage of this approach is that, in case the method needs to be run in reverse, a re

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  • Sequential estimation in a real-time positioning or navigation system using historical states
  • Sequential estimation in a real-time positioning or navigation system using historical states
  • Sequential estimation in a real-time positioning or navigation system using historical states

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Embodiment Construction

[0026] The present invention relates to methods of sequential estimation and systems for performing such sequential estimation. In one embodiment, the sequential estimate is a sequential estimate of the location of the device. figure 1 A navigation system 10 is shown as an example of a navigation system according to an aspect of the present invention.

[0027] The navigation system 10 includes a position calculation unit 12 . In this illustrative embodiment, position calculation unit 12 receives an input signal from Global Navigation Satellite System (GNSS) receiver 14 connected to antenna 16 . The position calculation unit 12 also receives input signals from an accelerometer 18 and a gyroscope 20 . The position calculation unit 12 includes a sequence estimation unit 22 and a processor 24 . The output from the position calculation unit 12 is provided to a display device 26 .

[0028] Typically, position calculation unit 12 receives input signals from GNSS receiver 14 , acc...

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Abstract

A sequential estimation method for real-time positioning or navigation systems is performed by, at each iteration: propagating a first state estimate into a state prediction, and then forming a second state estimate, by updating the state prediction using state measurements. The first state estimate is valid at a first time and comprises estimated values of a plurality of state parameters, the plurality of state parameters including at least one state parameter referring to a time earlier than the first time. The second state estimate is valid at a second time and comprises estimated values of said plurality of state parameters, the plurality of state parameters including at least one state parameter referring to a time earlier than the second time. The state measurements comprise measurements relating to state parameters at the second time and measurements relating to state parameters at the time earlier than the second time.

Description

technical field [0001] The present invention relates to methods and systems for performing sequence estimation, especially in real-time positioning or navigation systems. Background technique [0002] A real-time navigation system usually adopts an Extended Kalman Filter (Extended Kalman Filter, EKF) or other least squares sequential estimation techniques. Several variants of the standard EKF exist, such as the Unscented Kalman Filter. [0003] In general, these techniques estimate time-varying parameters (e.g., in Position, speed and direction of movement in the navigation system) to work. These measurements are combined with deterministic and stochastic models with assumptions about the measurement errors and the nature of the estimated time-varying parameters. [0004] For real-time navigation systems, the estimation process is sequential in nature. That is, at any one moment, it is desired to make the best estimate of the current value of the time-varying parameter b...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01S5/02G01S19/49
CPCG01C21/165G01S19/49G01S5/0294
Inventor 彼得·弗莱明
Owner OCT电路技术国际有限公司
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