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Relative positioning method based on MAP noise improvement

A relative positioning and noise technology, applied in satellite radio beacon positioning systems, instruments, measuring devices, etc., can solve the problems of cumbersome calculations in the extended Kalman filter method, improve self-adaptive ability, overcome cumbersome calculations, and improve real-time performance Effect

Pending Publication Date: 2022-04-29
GUILIN UNIV OF ELECTRONIC TECH
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AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide an improved relative positioning method based on MAP noise, aiming at reducing the influence of time-varying noise on the positioning accuracy of navigation filtering, and solving the problem of complicated calculation of the extended Kalman filtering method

Method used

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  • Relative positioning method based on MAP noise improvement
  • Relative positioning method based on MAP noise improvement
  • Relative positioning method based on MAP noise improvement

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Embodiment Construction

[0035] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0036] see figure 1 , the present invention proposes a relative positioning method based on MAP noise improvement, comprising the following steps:

[0037] S1: The receiver acquires observation and navigation data;

[0038] S2: single-point positioning to obtain the position of the receiver;

[0039] S3: Construct the carrier phase double-difference observation equation;

[0040] S4: Solve the carrier phase double-difference observation equation to obtain the single-difference integer ambiguity between stations;

[0041] S5: ...

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Abstract

The invention relates to the technical field of positioning, in particular to a relative positioning method based on MAP noise improvement, which reduces the influence of time-varying noise on the precision of a navigation filtering algorithm, improves the self-adaptive ability of time updating and measurement updating stages, improves the real-time performance of related positioning, more accurately approaches the real mean value and variance by using a Sigma Point transformation method, and improves the positioning accuracy. Under the non-linear condition, sigma point Kalman filtering improves the filtering precision, in the non-linear environment, sigma point Kalman filtering replaces extended Kalman filtering, the problems of EKF local linearization and tedious Jacobian matrix calculation are solved, and the motion state is judged more accurately.

Description

technical field [0001] The invention relates to the technical field of positioning, in particular to an improved relative positioning method based on MAP noise. Background technique [0002] With the development of computer technology, it is necessary to perform noise reduction processing on received signals in many fields. "Filtering" is to perform noise reduction processing on noise-containing received signals and extract effective information. Traditional filtering methods such as Wiener filtering and Kalman filtering are all linear filtering and are only used in linear systems. In linear systems, Kalman filtering is the optimal filter. However, the systems in practical applications are often nonlinear and often not linear systems, so the Extended Kalman Filter (EKF) is derived, which linearizes the nonlinear system and uses the linearized model to perform Kalman filtering. [0003] For nonlinear systems, and when working in a complex environment, the positioning results...

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Application Information

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IPC IPC(8): G01S19/44G01C21/20
CPCG01S19/44G01C21/20
Inventor 孙希延李振宇纪元法梁维彬贾茜子付文涛郭宁白杨符强严素清赵松克李晶晶李龙
Owner GUILIN UNIV OF ELECTRONIC TECH
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