An Improved Inertial Positioning Method Oriented to Real Estate Survey

Abstract

The invention discloses an improved inertial positioning method for real estate measurement. The method comprises: a to-be-measured point and a control point in a work area are selected; initial alignment is carried out at the control point and initial posture information of an inertial measurement system is obtained; when the inertial measurement system moves, moving data are calculated based ona strapdown algorithm; fitting of a speed error of a parking zone is carried out by selecting a Gaussian process regression kernel function, and an optimal hyper parameter of the Gaussian process regression kernel function is searched by employ an ant colony optimization algorithm; and the fitting speed error is processed by integration to obtain a position error, and compensation to an inertia solution result is carried out to complete measurement of the to-be-measured point. According to the invention, fitting of the speed error sample of the carrier parking zone is carried out by using theGaussian process regression curve to compensate the position error, so that a problem that the long-time positioning accuracy can not be kept because of accumulation of the inertial system positioningerror with time can be solved. Moreover, on the basis of the ant colony optimization algorithm, the hyper parameter of the Gaussian process regression kernel function is searched, so that the positioning accuracy is improved.

Description

technical field [0001] The invention relates to the field of measurement, surveying and mapping technology and strapdown inertial positioning technology, in particular to an improved inertial positioning method for real estate measurement. Background technique [0002] The good implementation of real estate unified registration survey is related to the national economy and people's livelihood. At present, the commonly used real estate measurement methods mainly include total station measurement method and GPS-RTK measurement method. Due to the complex and changeable actual measurement environment of total station measurement, it is often impossible to see through the situation, and the measurement process requires frequent station relocation, resulting in low work efficiency. GPS-RTK measurement accuracy is easily affected by the strength of satellite signals, and in areas where signals are easily blocked, the accuracy is difficult to meet the requirements. [0003] The in...

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Problems solved by technology

[0006] Purpose of the invention: In view of the problem that the traditional real estate measurement method is easily affected by factors such as the environment, and the strapdown solution error of the inertial measurement method will accumulate over time, the purpose of this invention is to propose an improved inertial positioning method for real estate measurement. The zero-speed correction technology is introduced into the inertial positioning, and the hyperparameters of the Gaussian process regression kernel function are optimized through the ant colony optimization algorithm to obtain the optimal parameter value, so as to improve the fitting accuracy of the error curve, thereby improving the positioning accuracy

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