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

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

Active Publication Date: 2017-07-11
OCT电路技术国际有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage of this approach is that, in case the method needs to be run in reverse, a relatively large number of measurements need to be stored, and it creates bursts of CPU activity

Method used

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

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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 a real-time positioning or navigation system performed by: in each iteration: propagating a first state estimate to 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 includes estimates of a plurality of state parameters, including at least one state parameter related to a time earlier than the first time. The second state estimate is valid at a second time and includes estimates of the plurality of state parameters, including at least one state parameter related to a time earlier than the second time. The state measurements include measurements related to a state parameter at the second time and measurements related to a state parameter at a 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., during navigation) using measurements such as those from the Global Navigation Satellite System (GNSS) and / or position, velocity and direction of movement in the 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 m...

Claims

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Application Information

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