Constrained filtering solution method and device with additional orthogonal function fitting conditions

Abstract

The invention discloses a constrained filter solution method and device with additional orthogonal function fitting conditions. The method includes: obtaining code pseudo-range and Doppler observation values; forming a single-point positioning observation error equation according to code pseudo-range and Doppler observation values; establishing a system uniform motion state model by using the state estimation of the position and velocity at the last moment; Establish a robust adaptive filter model based on the single-point positioning observation error equation and the system uniform motion state model, and obtain the initial estimate of the current state from the robust adaptive filter model; use an orthogonal function to fit the state estimate at the previous moment and establish constraints , the initial estimate of the current state is constrained to be corrected by the constraints. Under the premise of not increasing the cost, the previous motion information of the receiver can be fully utilized, and new available constraints can be excavated, so that in the bad occlusion environment and the condition of poor spatial distribution of visible satellites, it can also greatly reduce the Positioning offset, smoothing the trajectory of the receiver, improving the accuracy of positioning results, and enhancing the stability of filtering.

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 ...

AI Technical Summary

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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