Positioning method and device based on pseudorange and linear vector

Abstract

The invention discloses a positioning method based on pseudo-ranges and linear vectors. The method includes: based on the road currently operated by the carrier, reading the topological structure, direction vector, road length, Data such as electronic elevation. Obtain the pseudo-range information of the satellite through the satellite navigation unit; extract the linear vector constraint equation of the current road in the ECEF coordinate system according to the topological information of the carrier's operating road; form the distance equation between two points in space according to the satellite pseudo-range; use the least square method Or the Kalman filter algorithm for position calculation. The present invention also provides a device for realizing the above method, which can effectively solve the positioning problem in the environment where satellite signals are blocked, and expand the positioning coverage of satellite navigation.

Description

technical field [0001] The invention relates to the technical field of satellite positioning and inertial navigation, in particular to a positioning method and device based on satellite pseudo-range, road network data and elevation data. Background technique [0002] With the development of my country's economy and the acceleration of urbanization, motor vehicles have become an indispensable means of transportation in people's daily life, and the growth rate of vehicles is far greater than the growth rate of road mileage. The number of operating vehicles represented by dangerous goods transportation and logistics is increasing year by year. [0003] With the sharp increase in the number of vehicles, urban traffic problems are becoming more and more serious, resulting in a series of urban diseases such as road congestion, frequent traffic accidents, and serious traffic pollution, which have become a major bottleneck restricting economic development and building a harmonious s...

AI Technical Summary

Problems solved by technology

There are many shortcomings in these methods, such as simply improving the receiving sensitivity is difficult to solve the problem that some satellite signals are completely blocked, the integrated navigation of radio navigation, astronomical navigation and inertial navigation, the system is complex, the system is huge, the cost is expensive, the schedule maintenance is complicated, and the working conditions Special, high power consumption, etc., difficult to promote on a large scale

Due to the long-term cumulative error and poor long-term stability of the inertial navigation system, the current satellite and inertial navigation integrated navigation system has strict requirements on the inertial navigation system and is expensive, and due to the error accumulation effect, it can only be used in a very short time when the satellite positioning disappears. It is difficult to perform long-term stable positioning for position estimation

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