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A method of GPS measurement data processing based on adaptive filtering

A technology of adaptive filtering and measurement data, applied in the field of GPS measurement data processing based on adaptive filtering

Active Publication Date: 2019-12-03
BEIJING TECHNOLOGY AND BUSINESS UNIVERSITY
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  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a GPS measurement data processing method based on adaptive filtering, which solves the problem of high-precision online denoising of GPS measurement data, thereby increasing the tracking accuracy to a large extent
[0006] The invention relates to a GPS measurement data processing method based on adaptive filtering, which uses multiple adaptive models to correct parameters in real time, and solves the problem of high-precision online denoising of GPS measurement data, thereby increasing the tracking accuracy to a large extent

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  • A method of GPS measurement data processing based on adaptive filtering
  • A method of GPS measurement data processing based on adaptive filtering
  • A method of GPS measurement data processing based on adaptive filtering

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Embodiment 1

[0229] The present invention performs online denoising on GPS measurement data, and selects 7,000 tracking points. The specific data is shown in Table 1 below, and the time step is 0.01s, where the X and Y axes are the coordinate values ​​of the horizontal axis and the vertical axis, respectively.

[0230] Table 1

[0231] serial number t(s) X-axis (m) Y-axis (m) serial number t(s) X-axis (m) Y-axis (m) 1 0 0 0 4263 42.620 -31.2230 81.5673 2 0.010 -81.4130 -80.0434 4264 42.630 -37.1058 85.9250 3 0.020 -95.0864 -84.9268 4265 42.640 -36.4918 83.8843 4 0.030 -81.8948 -95.7984 4266 42.650 -35.8594 87.9904 5 0.040 -85.3587 -85.5665 4267 42.660 -31.5501 82.2402 6 0.050 -65.0065 -75.4497 4268 42.670 -39.8242 76.7223 7 0.060 -78.7037 --74.1371 … … … … 8 0.070 -78.4814 -89.6396 6996 99.950 86.5073 -96.0795 … … … … 6997 99.960 100.1355 -94.6065 4260 42.590 -37.2...

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Abstract

The invention provides a GPS measurement data processing method based on self-adaptive filtering, which is an improved Kalman filter method based on a second-order self-adaptive model. The GPS measurement data processing method comprises the steps of: firstly, adopting recursive Kalman filtering for tracking a target in real time; secondly, adopting the second-order self-adaptive model to capture motion characteristics of the target and remove color noise in an estimation process; and finally, introducing a forgetting factor for solving a truth value of measurement noise variance, and adopting a self-adaptive exponential smoothing error compensation method so that the measurement noise variance is converged to the truth value quickly. However, since the value after convergence jitters seriously, a sliding window is further introduced and a self-adaptive smoothing filtering error compensation method is adopted, the method has slow convergence speed, bus the value is very stable after convergence, therefore, the measurement error variance can always fluctuate smoothly near the truth value, thus the tracking effect is more precise, and the high-precision online denoising problem of the GPS measurement data is solved.

Description

technical field [0001] The invention relates to the technical field of measurement signal processing, in particular to a GPS measurement data processing method based on adaptive filtering. Background technique [0002] Nowadays, the satellite positioning system has received widespread attention, developed rapidly, and is widely used in various military fields such as aerospace, aviation, and navigation, as well as civilian fields such as transportation and surveying. However, the accuracy of tracking based on general GPS measurement data is limited, which cannot meet actual needs; and the price of a GPS system with high precision is extremely expensive. Therefore, it is necessary to process GPS measurement data with limited precision and noise to improve its tracking accuracy. Very important. [0003] In order to improve tracking accuracy, a filtering algorithm with excellent performance for processing GPS measurement data is necessary. There are already many algorithms, su...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/37
CPCG01S19/37
Inventor 金学波易圣伦苏婷立
Owner BEIJING TECHNOLOGY AND BUSINESS UNIVERSITY