Speed adaptive auxiliary positioning method
An assisted positioning and self-adaptive technology, applied in satellite radio beacon positioning systems, measuring devices, instruments, etc., can solve problems such as poor state estimation accuracy and positioning accuracy easily affected by constant speed errors.
Inactive Publication Date: 2017-01-04
NAT UNIV OF DEFENSE TECH
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[0003] However, in the process of positioning a dynamic target, using Kalman filter to estimate the state of the target will be affected by observation errors and dynamic model errors, resulting in poor state estimation accuracy, and the use of prior information can improve the state estimation accuracy
Some researchers proposed a Kalman filter algorithm with road prior information as a constraint condition, but this method must obtain road information in real time, so the road-constrained Kalman filter algorithm has certain limitations
In addition, some people have proposed a speed-constrained Kalman filter algorithm. Experiments have proved that the positioning accuracy of this method is easily affected by the constant speed error.
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[0032] In the following description, specific details are given in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without one or more of these details. In other examples, some technical features known in the art are not described in order to avoid confusion with the present invention.
[0033] It should be understood that the invention can be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
[0034] In order to thoroughly understand the present invention, detailed steps will be provided in the following description, so as to explain the technical solution proposed by the present invention. Preferred embodiments of the present in...
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The invention provides a speed adaptive auxiliary positioning method. The speed adaptive auxiliary positioning method is characterized by comprising the following steps: first of all, obtaining current position and speed information; then solving a variation coefficient of a speed according to a statistical property of a constant-speed error; and if the variation coefficient is smaller than a threshold, performing auxiliary positioning by use of an internal relation between a position and the speed, and if the variation coefficient exceeds the threshold, not performing the speed auxiliary positioning. The speed adaptive auxiliary positioning method provided by the invention can provide assistance for positioning by use of a quite stable speed measurement result, improves the positioning precision, and is suitable for dynamical single-point positioning and especially vehicular navigation.
Description
technical field [0001] The invention relates to the field of dynamic navigation and positioning, in particular to a speed adaptive auxiliary positioning method, which can be used in the design of satellite navigation receivers. Background technique [0002] Kalman filtering is an algorithm that uses the linear system state equation to optimally estimate the system state through the input and output observation data of the system. The Kalman filter method summarizes the set of minimum parameters of all past inputs and disturbances of the system, and combines future inputs and system disturbances to determine the current state of the system. For the system disturbance and observation error at each moment, as long as some appropriate assumptions are made on their statistical properties, the Kalman filter can obtain the real filter with the smallest error in the average sense by processing the observation signal containing noise. signal estimate. Therefore, since the Kalman fi...
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IPC IPC(8): G01S19/45
CPCG01S19/45
Inventor 王飞雪周承松彭竞刘文祥李峥嵘李垣陵王勇楼生强徐博
Owner NAT UNIV OF DEFENSE TECH