Direct position determination method for correcting cubature Kalman filter

A technology of Kalman filtering and positioning method, which is applied in the field of direct positioning of modified volumetric Kalman filtering, which can solve the problems of estimation efficiency to be improved and the calculation amount dependence of genetic algorithm, and achieve the effect of eliminating noise, high parameter estimation efficiency and positioning efficiency.

Inactive Publication Date: 2018-08-24
PLA STRATEGIC SUPPORT FORCE INFORMATION ENG UNIV PLA SSF IEU
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Problems solved by technology

However, the calculation amount of the genetic algorithm depends on the population size. When the search area is large, a large population size is required to ensure the convergence speed and performance, so the estimation efficiency needs to be improved.

Method used

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  • Direct position determination method for correcting cubature Kalman filter
  • Direct position determination method for correcting cubature Kalman filter
  • Direct position determination method for correcting cubature Kalman filter

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Embodiment

[0047] Such as figure 1 As shown, the modified volume Kalman filter direct positioning method of the present invention includes the following steps:

[0048] Assuming that the target is at rest, the coordinates are o=(o x ,o y ), the L observing stations are all composed of N-element linear arrays, the distance between the array elements is half a wavelength, and the observing stations have completed time synchronization, the coordinate of the first element of the lth observing station is u l =(u l,x ,u l,y ),l=1,2,...,L. Suppose the target sends a signal as

[0049] x(t)=s(t)e j2πft (1)

[0050] Where f is the carrier frequency and s(t) is the signal envelope. Then the received signal r of the lth observation station l (t) is

[0051] r l (t)=a l (o)x(t)+ν l (t),l=1,2,...,L (2)

[0052] Where ν l (t) is Gaussian white noise, a l (o) is the array flow pattern vector about the target position, which can be expressed as

[0053]

[0054] Where θ l (o) is the arrival angle of the targ...

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Abstract

The invention relates to the technical field of wireless target positioning, and in particular to a direct position determination (DPD) method for correcting a cubature Kalman filter. The method comprises the steps of: merging the angle-of-arrival (DOA) information in the received signals of a plurality of observation stations, and establishing a new cubature Kalman filter model by using a subspace data fusion method; based on the new cubature Kalman filter model, solving the objective function of the new cubature Kalman filter model by using an improved cubature Kalman filter algorithm to position a target. The method establishes an indirect observation model as the new cubature Kalman filter model to avoid the influence of transmitted signals and to fuse the positioning information of multiple observation stations; and by correcting a state covariance matrix and a observed noise covariance matrix, eliminates the noise introduced into the design of the cubature Kalman filter model; and has high parameter estimation efficiency and positioning efficiency.

Description

Technical field [0001] The invention relates to the technical field of wireless target positioning, in particular to a direct positioning method of modified volume Kalman filtering. Background technique [0002] Wireless target positioning technology has been widely used in emergency rescue, safety management, navigation planning and other directions. With the increasing demand for high-precision positioning, it is of great value to develop more efficient positioning algorithms. Traditional positioning methods first estimate the positioning parameters such as the angle of arrival (DOA), time of arrival (TOA) and Doppler frequency of the target signal, and then estimate the target position by solving the positioning equation composed of these parameters. Although this two-step positioning method is easy to implement, it ignores the prior information that the positioning parameters come from the same target, and at the same time inevitably introduces process processing errors, so t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/02
CPCG01S5/0294
Inventor 逯志宇任衍青王建辉崔维嘉巴斌王大鸣李祥志秦天柱
Owner PLA STRATEGIC SUPPORT FORCE INFORMATION ENG UNIV PLA SSF IEU
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