Constrained filtering solution method and device with additional orthogonal function fitting conditions
An orthogonal function and condition technology, which is applied in the field of constraint filtering and solving devices with additional orthogonal function fitting conditions, can solve problems such as increasing hardware costs, and achieve the effects of improving accuracy, reducing positioning offset, and smoothing motion trajectories.
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[0155] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.
[0156] refer to figure 1 , the first aspect of the present invention relates to a constrained filter solution method S100 with an additional orthogonal function fitting condition, comprising:
[0157] S110. Obtain code pseudoranges and Doppler observations.
[0158] S120. Form a single-point positioning observation error equation according to the code pseudorange and the Doppler observation value.
[0159] S130. Establish a uniform motion state model of the system by using the state estimation of the position and velocity at the last moment.
[0160] S140. Establish a robust adaptive filtering model according to the single-point positioning observation error ...
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