A Position and Attitude Estimation Method Based on Signal Station

Abstract

The invention provides a position and posture estimation method based on a signal station. The method comprises the steps of adopting a uniform linear array and a compressed sensing technology of an object to be detected, receiving in real time signals of the signal station, and calculating arrival angles of all the signals on the objected to be detected; adopting an extended Kalman filtering technology to conduct real-time estimation on positions and posture parameters of the object according to positions of various signals and the arrival angles of all the signals. According to the position and posture estimation method based on the signal station, by solving one by one the arrival angles of different signals, removing coupling and mutual interference among different signals, and lowering mutual influences among different signals, high estimated accuracy of the arrival angles with is obtained; meanwhile, through the adoption of the compressed sensing technology, sampling rate when the signals are received and cost of a signal receiver are effectively reduced, calculated amount of the position and the posture estimation algorithm are reduced, and calculation efficiency is improved; in addition, through the adoption of the Kalman filtering technology, estimated accuracy of the position and the posture parameters can be effectively improved.

Description

technical field [0001] The invention belongs to the technical field of positioning and navigation, and in particular relates to a position and attitude estimation method based on a signal station. Background technique [0002] Position and attitude estimation techniques have applications in many fields such as aerospace, mobile remote control devices, drone navigation or unmanned driving, and indoor navigation. The main goal of position estimation is to determine the spatial coordinates of the object, while the main goal of pose estimation is to determine the relative rotation angle between the conjoined coordinate system and the reference coordinate system. Especially in some application scenarios such as drones and indoor navigation, positioning and navigation systems are required to have the characteristics of low cost, low power consumption, high stability, and small size. In addition, for an accurate real-time navigation system, a position and attitude estimation metho...

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Problems solved by technology

However, the above method has the following disadvantages: first, the above method does not use effective filtering means in the process of calculating the position and attitude parameters, so the estimation error is relatively large; second, the above method uses the measurement data of the magnetometer to estimate the attitude parameters, Therefore, the prior data of the earth's magnetic field distribution is needed; third, this method uses the original ground signal with a high sampling rate to calculate its angle of arrival relative to the object to be measured, the amount of data involved in the calculation is large, the calculation complexity is high, and the position and real-time pose estimation

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