Constrained filtering solving method and device considering orthogonal function fitting condition

Abstract

The invention discloses a constrained filtering solving method and device considering an orthogonal function fitting condition. The method includes the following steps that: a code pseudorange and a Doppler observation value are obtained; a single-point positioning observation error equation is formed according to the code pseudorange and the Doppler observation value; a system uniform motion state model is established by using the state estimation value of a position velocity at a previous time point; a robust adaptive filtering model is established according to the single-point positioning observation error equation and the system uniform motion state model, and a current state initial estimation value is obtained with the robust adaptive filtering model; and an orthogonal function is used to fit a previous state estimation value, and a constraint condition is established, and the current state initial estimation value is corrected with the constraint condition. With the constrainedfiltering solving method and device considering the orthogonal function fitting condition adopted, the previous motion information of a receiver can be fully utilized to explore the new available constraint under the premise of not increasing cost; and under a poor occlusion environment where the spatial distribution of visible satellites is poor, positioning offset can be greatly reduced, the motion track of the receiver can be smoothed, the accuracy of a positioning result can be improved, and the stability of filtering can be enhanced.

Description

technical field [0001] The invention belongs to the technical field of GNSS (Global Navigation Satellite System) positioning and navigation, and in particular relates to a constrained filter computing method with an additional orthogonal function fitting condition and a constrained filter computing device with an additional orthogonal function fitting condition. Background technique [0002] With the development of emerging mass navigation industries such as drones, shared bicycles, Didi taxis, and driverless cars, the demand for using global satellite navigation and positioning technology to achieve meter-level to sub-meter-level navigation and positioning is becoming increasingly strong. Most of the satellite receivers used in the field of public navigation are single-frequency receivers with low price, single function and unstable data quality. Especially when this type of receiver briefly passes by urban high-rises, viaducts, and tall green plants, the satellite signals ...

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Problems solved by technology

The method of adding heading conditions is to build conditions through existing maps or known road headings. The disadvantage is that accurate heading information needs to be known in advance; the method of adding baseline conditions is to use the relative distance between two or more antennas to always keep fixed. Yes, but the use of multiple antennas increases hardware costs to a certain extent

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