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A method and device for realizing Kalman filter positioning

A Kalman filter and error covariance technology, applied in the field of Kalman filter positioning, can solve the problems of increasing the power consumption of the positioning system and increasing the calculation amount of the correlation matrix

Active Publication Date: 2020-10-09
DATANG SEMICON DESIGN
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  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0010] In related technologies, when the dimension of the system state vector is larger, the more measurement equations are required, which greatly increases the calculation amount of the correlation matrix when calculating the Kalman gain, and thus greatly increases the positioning system. power consumption

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  • A method and device for realizing Kalman filter positioning
  • A method and device for realizing Kalman filter positioning
  • A method and device for realizing Kalman filter positioning

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Embodiment Construction

[0077] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the accompanying drawings, which cannot be used to limit the protection scope of the present invention. It should be noted that, in the case of no conflict, the embodiments in the present application and various manners in the embodiments can be combined with each other.

[0078] see figure 1 , the embodiment of the present invention proposes a method for realizing Kalman filter positioning, including:

[0079] Step 100, calculate the error between the optimal estimated value of the state vector at the current epoch and the optimal estimated value of the state vector at the current epoch according to the predicted value of the state vector at the last epoch and the error covariance matrix at the last epoch covariance matrix. Specifically include:

[0080] Calculate the predicted value of the state vector at the current epoch ...

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Abstract

The invention discloses a method and a device for implementing Kalman filtering positioning. The method comprises the following steps: calculating the optimal estimated value of a current epoch state vector and the error covariance matrix of the optimal estimated value of the current epoch state vector according to the predicted value of a previous epoch state vector and a previous epoch error covariance matrix; for each element in the optimal estimated value of the current epoch state vector, calculating the difference between the average of the previous epoch optimal estimated value and the current epoch optimal estimated value on the element and the previous epoch optimal estimated value; and judging whether the difference(s) corresponding to one or more elements is / are smaller than or equal to a preset threshold, deleting one or more elements from the current epoch optimal estimated value, deleting one or more corresponding elements from the error covariance matrix of the current epoch optimal estimated value, and continuing to calculate the predicted value of a next epoch state vector and a previous epoch error covariance matrix.

Description

technical field [0001] The present invention relates to but not limited to the field of navigation and positioning, especially a method and device for realizing Kalman filter positioning. Background technique [0002] Global Navigation Satellite System (GNSS, Global Navigation Satellite System) has been widely used in many fields. At present, there are mainly four global navigation and positioning systems, including the Global Positioning System (GPS, Global Positioning System) of the United States, the Beidou Satellite Navigation System (Compass or BeiDou BD) of China, and the Global Navigation Satellite System (GLONASS, Global Navigation Satellite System) of Russia. ), the largest civil satellite navigation and positioning system launched by the European Union, that is, Galileo (Galileo) system. Among them, the development of GPS is the most mature, BD and GLONASS have made staged progress, and the Galileo system is still in its infancy. [0003] In the process of naviga...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/45
CPCG01S19/45
Inventor 宋挥师赵海龙徐雄伟刘晓燕孙涛刘航
Owner DATANG SEMICON DESIGN