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Improved Kalman filtering method with improved positioning precision

A technology of Kalman filtering and positioning accuracy, applied in the field of filtering, can solve problems such as poor real-time solution, divergence of filtering process, long filtering oscillation time, etc., and achieve the effect of improving accuracy and stability

Active Publication Date: 2019-03-05
BEIJING AUTOMATION CONTROL EQUIP INST
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Problems solved by technology

If the deviation of the initial value of the filter is large, or the dynamic model is inaccurate, it is easy to cause the filter oscillation time to be long or the filtering process to diverge, and the real-time solution is poor, and if the difference between the two filtering results before and after is too large, how to solve these problems? are problems to overcome

Method used

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Embodiment Construction

[0024] An improved Kalman filter method for improving positioning accuracy, comprising the steps of:

[0025] Step 1: Satellite acquisition tracking and synchronization.

[0026] Capture GPS, BD2, GLONASS satellites in sequence, track satellites for bit synchronization and frame synchronization;

[0027] Step 2: Extract data.

[0028] Extract the satellite code NCO, chip count, 1ms count, bit count, word count, frame count and Doppler after frame synchronization to obtain the launch time, pseudorange and pseudorange rate;

[0029] Step 3: Calculation of satellite position and velocity.

[0030] According to the satellite position calculation method provided by the satellite navigation interface control file (ICD), input the satellite launch time and calculate the satellite position and velocity;

[0031] Step 4: Least squares solution.

[0032] The position and velocity of the carrier are obtained by performing the least squares calculation on the obtained tracking satelli...

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Abstract

The invention relates to an improved Kalman filtering method with improved positioning precision, and belongs to filtering methods. The method comprises the steps of 1) tracking and synchronizing of satellite capturing; 2) data extraction; 3) calculation of the satellite speed and position; 4) least squares resolution; 5) expanded Kalman filtering measurement and establishment of a state equation;6) an expanded Kalman filtering process; and 7) adaptive adjusting. In the process of single-point positioning of a satellite navigation receiver, if instant determination of a satellite signal caused instant deterioration of a pseudo range observed quantity, the single-point positioning speed measuring precision resolved by the least squares jumps, and the method of the invention can be used eliminate the jump effectively, and the positioning stability is kept.

Description

technical field [0001] The invention belongs to filtering methods, and in particular relates to an improved Kalman filtering method for improving positioning accuracy. Background technique [0002] Satellite positioning calculation refers to the process that the receiver demodulates and modulates the captured satellite signal to obtain the navigation message, and then performs PVT calculation according to the navigation message. After decades of development, satellite positioning solution technology has become more and more perfect. The methods usually used for receiver positioning solution include direct solution algorithm, Newton iterative method, least square method and EKF (Extended Kalman Filter). [0003] The direct solution algorithm is to eliminate the quadratic term of the unknown by deforming the distance equation of each satellite, transform the nonlinear distance equation of positioning into a linear equation, and then directly solve the coordinates without init...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/30
CPCG01S19/30
Inventor 洪诗聘胡文涛李建华王勋李峰左启耀张丛巨
Owner BEIJING AUTOMATION CONTROL EQUIP INST
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