Dual-frequency combined filter and filtering method for eliminating single-point GPS high-order position errors

Abstract

The invention relates to a dual-frequency combined filter and filtering method for eliminating single-point GPS high-order position errors. The filter comprises an input part, a high-frequency combined part, a low-frequency combined part and an output part; the input part comprises a strapdown inertial measurement unit (SIMU) and a GPS module; the high-frequency combined part comprises a strapdown calculating module A and a Kalman filter (KF); the low-frequency combined part comprises a strapdown calculating module B and an LSSVM filter; the output part comprises a motion compensation unit; the structure of the high-frequency combined part is similar to that of a traditional SINS / GPS combined navigator, the low-frequency combined part isolates the single-point GPS high-order position errors through the independence of the strapdown calculating module B, and the high-order errors in position information output by the high-frequency combined part are filtered out by an LSSVM online learning and training model. In addition, when each low-frequency filtering period is finished, position calibration is provided for the strapdown calculating module B through predicted values of an LSSVM, therefore, position accumulation errors are prevented from entering the real-time motion compensation unit, and the connection and compensation problems of the position information among all low-frequency segments are properly solved.

Description

technical field [0001] The present invention is a kind of dual-frequency combined filter and filtering method based on least squares support vector machine (Least squares support vector machine, LSSVM) to eliminate single-point GPS (Global Position System, Global Positioning System) high-order position error, can be applied Based on POS (Position and Orientation System, POS), it specifically involves motion compensation for high-resolution real-time imaging of synthetic aperture radar (SAR) in aerial remote sensing. Background technique [0002] High-precision real-time motion imaging is the core of high-resolution aerial remote sensing systems. It requires the flight platform to perform ideal motion, but the flight platform will form complex multi-mode non-ideal motion under the influence of external environment and internal disturbances, resulting in blurred and scattered motion images. Focused, deformed, or even unable to image. Therefore, in order to achieve high-precis...

AI Technical Summary

Problems solved by technology

[0007] The problem solved by the technology of the present invention is: aiming at the problem that the traditional SINS / GPS integrated navigation method cannot meet the index requirements of high-order position errors of aerial remote sensing high-resolution real-time imaging, a dual-point GPS high-order position error elimination method is proposed. Frequency combination filter and filtering method, online elimination of the impact of GPS high-order position error on combined measurement output

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