GNSS point positioning method and device based on Kalman filtering

A Kalman filter and single-point positioning technology, applied in the field of satellite navigation, can solve problems such as poor observation quality, reduced availability of positioning results, and limited observation volume

Active Publication Date: 2015-07-15
UNICORE COMM INC
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Problems solved by technology

However, in some complex scenarios, such as signal recapture, high-rise occlusion, bridge crossing, etc., the observation amount is limited and the observation...

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  • GNSS point positioning method and device based on Kalman filtering
  • GNSS point positioning method and device based on Kalman filtering
  • GNSS point positioning method and device based on Kalman filtering

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[0058] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined arbitrarily with each other.

[0059] figure 1 Be the flowchart of the method for the GNSS single-point positioning based on Kalman filtering of the present invention, as figure 1 shown, including:

[0060] Step 101: Establish a dynamic model of the Kalman filter according to the dynamic error variance matrix and the state transition matrix, and establish an observation model of the Kalman filter according to the observation error variance matrix and the design matrix.

[0061] Among them, the dynamic model and observation model are respectively established according to the formulas (1.1) and (1.2):

[...

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Abstract

The invention provides a GNSS point positioning method and device based on Kalman filtering. The GNSS point positioning method comprises the steps that a dynamic model and an observation model of Kalman filtering are built; state values of first prediction and a variance matrix of the state values of first prediction are obtained according to the built dynamic model and observation model respectively; a gain matrix is calculated according to the obtained variance matrix of the state values of first prediction, a design matrix and an observation error variance matrix; the state values of second prediction are calculated according to the obtained state values of first prediction, the design matrix, observation values and the gain matrix; the variance matrix of the state values of second prediction is calculated according to the obtained variance matrix of the state values of first prediction, the gain matrix and the design matrix; smooth speed is obtained, and the state values of the next moment and the variance matrix of the state values are calculated according to the obtained smooth speed, the state values of second prediction and the variance matrix of the state values of second prediction. According to the technical scheme, precision and usability of a positioning result are improved.

Description

technical field [0001] The invention relates to the field of satellite navigation, in particular to a Kalman filter-based global satellite navigation and positioning system (GNSS) single-point positioning method and device. Background technique [0002] At present, the global satellite navigation and positioning system (GNSS) is composed of the global satellite positioning system (GPS) of the United States, the GLONASS satellite navigation system (GLONASS) of Russia, the Beidou navigation system (BeiDou) of China and the Galileo satellite navigation system of the European Union. . Among them, the GPS and GLONASS systems have been fully constructed and have the function of global positioning. China's BeiDou has launched 16 satellites, including 5 Medium Earth Orbit (MEO, Medium Earth Orbit) satellites, 5 Inclined Geosynchronous Satellite Orbit (IGSO, Inclined Geosynchronous Satellite Orbit) satellites and 6 Geostationary Orbit (GEO) satellites. , Geostationary Earth Orbit) ...

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Application Information

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IPC IPC(8): G01S19/42
CPCG01S19/42G01S19/40
Inventor 李涛张思静陈孔哲高庆余胡刚
Owner UNICORE COMM INC
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