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Novel generalized integrated positioning principle, mathematical model and solving method

A mathematical model and generalized technology, applied in the field of satellite navigation and positioning, can solve the problems of high cost of indoor positioning, indoor positioning does not break through the positioning method of GPS triangulation principle, and achieve the effect of improving performance and accuracy

Inactive Publication Date: 2016-06-29
北京日月九天科技有限公司
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Problems solved by technology

However, due to the lack of popularization of Bluetooth base stations, it is necessary to invest in the construction of base stations, resulting in higher costs for indoor positioning.
[0006] From the above two application examples, it can be seen that indoor positioning has not broken through the traditional GPS triangulation positioning principle and traditional positioning methods.

Method used

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  • Novel generalized integrated positioning principle, mathematical model and solving method
  • Novel generalized integrated positioning principle, mathematical model and solving method
  • Novel generalized integrated positioning principle, mathematical model and solving method

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Embodiment Construction

[0032] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific examples. Embodiments of the present invention use extrapolation only on ground level, which also corresponds to vehicle driving conditions. Although embodiments of the invention provide examples of parameters that include specific values, the parameters need not be exactly equal to the corresponding values, but rather approximate the corresponding values ​​within acceptable error tolerances or design constraints. A novel generalized integrated positioning principle, mathematical model and solution method of the present invention comprise the following steps:

[0033] Step S100, establishing a generalized integrated positioning principle mathematical model, seeking the trajectory solution of navigation positioning (x i ,y i ,z i ), i=1,2,3Λn, let x sj ,y sj ,z sj is the satelli...

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Abstract

The invention discloses a novel generalized integrated positioning principle, a mathematical model and a solving method. According to the novel generalized integrated positioning principle, the mathematical model and the solving method, the conventional navigation positioning determination solving concept is broken through; on the basis of a fuzzy and statistical uncertain concept, parameter combination, equation solving, error correction and data fusion are carried out; a method for successively performing cross fusion and integration on an absolute measured value and a relative measured value and successively checking correction errors is provided. A generalized integrated positioning mathematical model and a solving algorithm are constructed according to the generalized integrated positioning principle, so that soft acting force of the mathematical and the algorithm is fully exerted, and the performance of a navigation positioning parameter and a state solution and the navigation positioning quality are greatly improved.

Description

technical field [0001] The invention relates to a novel generalized integrated positioning principle, a mathematical model and a solving method, and belongs to the technical field of satellite navigation and positioning. Background technique [0002] At present, all satellite navigation and positioning systems are in the earth-centered earth-fixed coordinate system, and use the triangulation principle of spherical intersection with the measured pseudo-range length from the satellite to the end user as the radius to achieve positioning. In this positioning mode, the positioning accuracy directly depends on the accuracy of the pseudorange measurement value. In fact, there are other measurement quantities, but this positioning principle does not play the role of all measurement quantities in the positioning result. In addition, in the process of dead reckoning positioning, measurement values ​​such as speed or step distance plus angle are applied, and the measurement accuracy o...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F19/00
CPCG16Z99/00
Inventor 施浒立刘成
Owner 北京日月九天科技有限公司
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