A multi-source fusion positioning performance evaluation method and device based on AHP

Abstract

The present invention discloses a multi-source fusion positioning performance evaluation method and device based on AHP, which relates to the field of fusion positioning of unmanned vehicles. The method includes obtaining a new multi-source fusion positioning system; calculating the multi-source fusion positioning performance evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, and calculating the positioning accuracy distance, signal continuity distance, and positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source; when it is determined that the newly added positioning source meets the requirements, introducing a fusion weight factor and using a weighted fusion positioning algorithm to perform confidence threshold judgment; performing credibility judgment of the new multi-source fusion positioning system; determining a fusion weight factor according to the positioning accuracy of the initial multi-source fusion positioning system and the new multi-source fusion positioning system, and realizing the fusion result update of the positioning source in the new multi-source fusion positioning system. The present invention can improve the performance of the multi-source fusion positioning system.

Description

Technical Field

[0001] The present invention relates to the field of fusion positioning of unmanned vehicles, and in particular to a method and device for evaluating the effectiveness of multi-source fusion positioning based on AHP. Background Art

[0002] With the rapid development of autonomous driving technology, fusion positioning technology is one of the key parts to realize autonomous driving. At present, fusion positioning technology has made significant progress, from the initial positioning method based on a single sensor to a more complex multi-sensor fusion positioning technology. In the existing autonomous driving system, commonly used sensors include lidar, camera, GPS (Global Positioning System), inertial measurement unit, etc. In order to obtain more accurate and reliable positioning information, the data of multiple sensors are usually fused to complement and calibrate each other. The autonomous driving fusion positioning technology that fuses multi-source fusion positioning data has been widely used.

[0003] At present, multi-source fusion positioning for autonomous driving includes GNSS (Global Navigation Satellite System) positioning, combined inertial navigation positioning, laser SLAM (Simultaneous Localization and Mapping) positioning, visual SLAM positioning, etc. These positioning methods can complement each other. GNSS positioning is a positioning system based on artificial earth satellites. It can provide accurate geographic location, speed and time information anywhere in the world and near-Earth space. GNSS is a system with global, all-weather high-precision absolute positioning; the combined inertial navigation positioning system includes satellite positioning system, Beidou satellite navigation system, GNSS, and inertial orientation positioning navigation system (INS for short). The deviation of the inertial system is corrected regularly through the information of the satellite positioning system. When the satellite signal cannot be received, the inertial orientation positioning navigation system can also ensure the accuracy of the navigation information within a certain period of time. SLAM technology refers to real-time positioning and map construction. When the robot is placed in an unknown environment, the robot can locate itself through the nearby environment. The SLAM positioning methods are mainly divided into two categories: laser SLAM positioning and visual SLAM positioning. Laser SLAM positioning technology obtains the positioning data and heading information of the vehicle body by acquiring and analyzing the data of sensors such as laser radar, IMU (Inertial Measurement Unit), and wheel speed. Visual SLAM technology uses cameras to obtain image features in the environment for matching and outputs vehicle positioning information. Since laser SLAM was launched earlier than visual SLAM, it is relatively mature in the application of autonomous driving. Compared with cameras, laser radar sensors are less sensitive to changes in lighting and nighttime.

[0004] In the multi-source fusion positioning system, the multi-source fusion positioning algorithm is the most critical link and an important guarantee for achieving efficient multi-source fusion positioning. Some researchers have introduced multi-source fusion positioning technology based on factor graphs. In the factor graph fusion algorithm, the soft messages transmitted by function nodes and variable nodes are continuously iterated and calculated through the sum-product algorithm to obtain the mean and variance of the positioning results. Factor graphs are widely used in the field of data fusion and have the characteristics of high fusion performance and low computational complexity. Some researchers have introduced multi-source fusion positioning technology based on extended Kalman filtering for research. Kalman filtering is an optimal recursive data processing algorithm based on linear minimum variance estimation. This technology is suitable for dynamic positioning and effectively overcomes the cumulative error of track calculation.

[0005] It can be seen that multi-source fusion positioning performance evaluation, as an indispensable part of multi-source fusion positioning technology, plays an important role in multi-source fusion positioning research and is one of the key technical points in multi-source fusion positioning technology. However, there is little research on the performance evaluation of multi-source fusion positioning technology. Summary of the invention

[0006] In view of the defects existing in the prior art, the purpose of the present invention is to provide a multi-source fusion positioning efficiency evaluation method and device based on AHP, which can improve the performance of the multi-source fusion positioning system.

[0007] To achieve the above objectives, the present invention provides a multi-source fusion positioning performance evaluation method based on AHP, which specifically includes the following steps:

[0008] Define the multi-source fusion positioning performance evaluation index, and add a new positioning source to the initial multi-source fusion positioning system to obtain a new multi-source fusion positioning system;

[0009] Calculate the multi-source fusion positioning effectiveness evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, as well as the positioning accuracy distance, signal continuity distance, and positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source;

[0010] Based on the multi-source fusion positioning performance evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, when it is determined that the newly added positioning source meets the requirements, a fusion weight factor is introduced and a weighted fusion positioning algorithm is used to make a confidence threshold judgment;

[0011] Set the feedback effectiveness evaluation threshold, and make a credibility judgment on the new multi-source fusion positioning system based on the multi-source fusion positioning effectiveness evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system;

[0012] According to the positioning accuracy of the initial multi-source fusion positioning system and the new multi-source fusion positioning system, the fusion weighting factor is determined to update the fusion result of the positioning source in the new multi-source fusion positioning system.

[0013] On the basis of the above technical solution, the multi-source fusion positioning performance evaluation index is defined, and a new positioning source is added to the initial multi-source fusion positioning system to obtain a new multi-source fusion positioning system. The specific steps include:

[0014] Define the multi-source fusion positioning performance evaluation index μ~(P ac ,P ct ,P A ,P Bi ), where μ represents the multi-source fusion positioning performance evaluation index, P ac Indicates positioning accuracy, Pct Indicates signal continuity, P A Indicates the availability of positioning source, P Bi Represents the confidence of the positioning source, that is, the confidence of the i-th positioning source relative to the selected positioning target;

[0015] In the initial multi-source fusion positioning system F n Newly added positioning source f n+1 , and obtain the new multi-source fusion positioning system F n+1 ;

[0016] Among them, the initial multi-source fusion positioning system F n The multi-source fusion positioning performance evaluation index is Positioning source n+1 The multi-source fusion positioning performance evaluation index is New multi-source fusion positioning system F n+1 The multi-source fusion positioning performance evaluation index is

[0017]

[0018] in, Denotes the initial multi-source fusion positioning system F n The multi-source fusion positioning performance evaluation index, Denotes the initial multi-source fusion positioning system F n The positioning accuracy, Denotes the initial multi-source fusion positioning system F n Signal continuity, Denotes the initial multi-source fusion positioning system F n Availability of positioning sources, Denotes the initial multi-source fusion positioning system F n The confidence level of the positioning source, Indicates the location source f n+1 The multi-source fusion positioning performance evaluation index, Indicates the location source f n+1 The positioning accuracy, Indicates the location source f n+1 Signal continuity, Indicates the location source f n+1 Availability of positioning sources, Indicates the location source f n+1 The confidence level of the positioning source, Denotes the new multi-source fusion positioning system F n+1 The multi-source fusion positioning performance evaluation index, Denotes the new multi-source fusion positioning system F n+1 The positioning accuracy, Denotes the new multi-source fusion positioning system F n+1 Signal continuity, Denotes the new multi-source fusion positioning system F n+1 Availability of positioning sources, Denotes the new multi-source fusion positioning system F n+1 The confidence level of the positioning source.

[0019] On the basis of the above technical solution, the calculation of the multi-source fusion positioning performance evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, as well as the calculation of the positioning accuracy distance, signal continuity distance, and positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source, specifically includes the following steps:

[0020] Calculate the distance of the multi-source fusion positioning effectiveness evaluation index between the initial multi-source fusion positioning system and the new multi-source fusion positioning system;

[0021] Define the evaluation index weights for positioning accuracy, signal continuity and positioning source availability;

[0022] Based on the defined evaluation index weights, the positioning accuracy distance, signal continuity distance, and positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source are calculated.

[0023] Based on the above technical solutions,

[0024] The calculation of the positioning accuracy distance between the initial multi-source fusion positioning system and the newly added positioning source is as follows:

[0025]

[0026] in, Represents the positioning accuracy distance between the initial multi-source fusion positioning system and the newly added positioning source;

[0027] The calculation of the signal continuity distance between the initial multi-source fusion positioning system and the newly added positioning source is as follows:

[0028]

[0029] in, Represents the signal continuity distance between the initial multi-source fusion positioning system and the newly added positioning source;

[0030] The calculation of the positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source is as follows:

[0031]

[0032] in, Represents the positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source;

[0033] The calculation of the distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system in terms of the multi-source fusion positioning performance evaluation index is as follows:

[0034]

[0035] in, represents the distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system in terms of the multi-source fusion positioning performance evaluation index. Represents the evaluation index weight of the defined positioning accuracy, represents the evaluation index weight of the defined signal continuity, Represents the evaluation index weight of the defined positioning source availability.

[0036] On the basis of the above technical solution, based on the multi-source fusion positioning performance evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, when it is determined that the newly added positioning source meets the requirements, a fusion weight factor is introduced and a weighted fusion positioning algorithm is used to perform confidence threshold judgment, wherein the judgment of the newly added positioning source is specifically as follows:

[0037] Set the distance threshold δ:

[0038] when When , the newly added positioning source meets the requirements;

[0039] when If the newly added positioning source does not meet the requirements, the process ends.

[0040] On the basis of the above technical solution, when it is determined that the newly added positioning source meets the requirements, a fusion weight factor is introduced and a weighted fusion positioning algorithm is used to perform confidence threshold judgment. The specific steps include:

[0041] When the newly added positioning source meets the requirements, the fusion stage performance evaluation is performed and the fusion weight factor is introduced Then we get:

[0042]

[0043] Where n represents the initial multi-source fusion positioning system F n The total number of positioning sources in f n Denotes the initial multi-source fusion positioning system F n The nth positioning source in Denotes the initial multi-source fusion positioning system F n The fusion weight factor corresponding to the nth positioning source in, Denotes the new multi-source fusion positioning system F n+1 The fusion weight factor, n+1 represents the new multi-source fusion positioning system Fn+1 The total number of positioning sources in f n+1 Denotes the new multi-source fusion positioning system F n+1 The n+1th positioning source in Denotes the new multi-source fusion positioning system F n+1 The fusion weight factor corresponding to the n+1th positioning source in ;

[0044] Define the confidence threshold ε, when When , the newly added positioning source meets the confidence threshold judgment and enters the feedback effectiveness evaluation. When , the newly added positioning source does not meet the confidence threshold judgment and ends.

[0045] On the basis of the above technical solution, the feedback effectiveness evaluation threshold is set, and the credibility of the new multi-source fusion positioning system is judged based on the multi-source fusion positioning effectiveness evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system. The specific steps include:

[0046] Set the feedback effectiveness evaluation threshold ω;

[0047] when This indicates that the new multi-source fusion positioning system F n+1 is credible, otherwise, the new multi-source fusion positioning system F n+1 Unbelievable, end.

[0048] On the basis of the above technical solution, the fusion weighting factor is determined according to the positioning accuracy of the initial multi-source fusion positioning system and the new multi-source fusion positioning system to update the fusion result of the positioning source in the new multi-source fusion positioning system, wherein the determination of the fusion weighting factor is specifically as follows:

[0049] when When the fusion weighting factor ρ n for

[0050] when When the fusion weighting factor ρ n for

[0051]

[0052] in,

[0053] in, Denotes the initial multi-source fusion positioning system F n The variance of Denotes the new multi-source fusion positioning system F n+1 The variance of Indicates an intermediate quantity.

[0054] On the basis of the above technical solution, the fusion result update of the positioning source in the new multi-source fusion positioning system is realized, wherein, for the fusion of the positioning source in the new multi-source fusion positioning system, specifically:

[0055] F n+1 ′=ρ1f1+ρ2f2+L+ρ n f n +ρ n+1 f n+1

[0056] Among them, F n+1 ′ represents the new multi-source fusion positioning system after positioning source fusion, ρ n represents the fusion weighting factor of the nth positioning source in the new multi-source fusion positioning system, ρ n+1 Represents the fusion weighting factor of the n+1th positioning source in the new multi-source fusion positioning system.

[0057] The present invention provides a multi-source fusion positioning efficiency evaluation device based on AHP, comprising:

[0058] A definition module is used to define a multi-source fusion positioning performance evaluation index and add a new positioning source to the initial multi-source fusion positioning system to obtain a new multi-source fusion positioning system;

[0059] A calculation module, which is used to calculate the multi-source fusion positioning effectiveness evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, and the positioning accuracy distance, signal continuity distance, and positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source;

[0060] A judgment module is used to introduce a fusion weight factor and use a weighted fusion positioning algorithm to make a confidence threshold judgment based on the multi-source fusion positioning performance evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system when judging that the newly added positioning source meets the requirements;

[0061] A judgment module, which is used to set a feedback effectiveness evaluation threshold and to judge the credibility of the new multi-source fusion positioning system based on the multi-source fusion positioning effectiveness evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system;

[0062] The fusion module is used to determine the fusion weighting factor according to the positioning accuracy of the initial multi-source fusion positioning system and the new multi-source fusion positioning system, so as to update the fusion result of the positioning source in the new multi-source fusion positioning system.

[0063] Compared with the prior art, the advantages of the present invention are as follows: four performance parameters, including positioning accuracy, signal continuity, result availability, and fusion source confidence, are analyzed from three indicator levels, namely, a basic evaluation layer, an extended evaluation layer, and a unique evaluation layer; on the basis of a multi-parameter model, the weights of evaluation indicators for multi-source fusion positioning performance evaluation are theoretically analyzed based on the AHP analysis theory; in the three stages of initial stage performance evaluation, fusion stage performance evaluation, and feedback stage performance evaluation, the whole process of adding a new positioning source to the multi-source fusion positioning system is monitored, the fusion weight factor is adaptively adjusted, the fusion result is iteratively updated, the reliability and fusion accuracy of the multi-source fusion positioning system are improved, and the performance of the multi-source fusion positioning system is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0065] Figure 1 This is a schematic diagram of the effectiveness evaluation of multi-source fusion positioning;

[0066] Figure 2 The present invention provides a flowchart of a method for evaluating the performance of multi-source fusion positioning based on AHP. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0068] The embodiment of the present invention provides a multi-source fusion positioning performance evaluation method based on AHP, which is used to realize the performance observation of the multi-source fusion positioning system. For the multi-source fusion positioning system, the performance evaluation needs to be analyzed from two aspects: traditional performance indicators and unique performance indicators. Positioning accuracy is the most commonly used traditional performance indicator, and traditional indicators such as signal continuity and positioning result availability should also be taken into account. On the other hand, the performance evaluation of the multi-source fusion positioning system needs to consider the confidence. Therefore, the performance evaluation parameters include positioning source confidence, positioning accuracy, positioning source availability, and signal continuity, to ensure that the multi-source fusion positioning system can achieve a comprehensive performance evaluation.

[0069] Positioning accuracy refers to the degree of agreement between the true position of the positioning target and the multi-source fusion positioning estimation result. It is generally carried out in a statistical probability manner, that is, within a fixed period, the probability that the statistical positioning estimation result and the true position will not exceed a certain threshold y is used to represent the positioning accuracy of the multi-source fusion positioning system. According to the different reference true values, positioning accuracy is divided into external compliance accuracy and internal compliance accuracy. In the evaluation of external compliance accuracy, the positioning result is compared with the true position of the positioning target, and the probability of statistical positioning accuracy is expressed. When the true position of the positioning target is difficult to obtain, consider using internal compliance accuracy to represent the positioning accuracy. In general, it is assumed that the internal compliance accuracy error satisfies the Gaussian distribution, and the parameters mean m and variance σ are used to characterize the internal compliance accuracy index.

[0070] External accuracy: P w ~P(r<y);

[0071] Internal accuracy: P E ~N(m,σ 2 );

[0072] Let the precision threshold y of the external conformity precision be equal to the mean value m of the internal conformity precision;

[0073] The positioning accuracy is:

[0074] As for signal continuity, since signal continuity refers to the stability of the signals transmitted by each source, it is possible to require that each signal source be time-stamped when transmitting a signal, and the continuity of the signal source can be judged by comparing the difference between two adjacent time stamps of the same signal. The smaller the difference, the better the signal continuity, and vice versa. In multi-source fusion positioning, signal continuity P ct is the probability of reliable operation of the positioning system per unit time, M t represents the mean time between failures, T i is the time difference between the i-th failure and the i-1-th failure.

[0075] Mean time between failures:

[0076] Signal Continuity: e represents a natural constant.

[0077] The availability of positioning sources is an evaluation indicator of the credibility of fusion sources. In multi-source positioning, there are k fusion positioning sources and multiple positioning targets. Each fusion positioning source can provide a positioning result for each positioning target. The positioning results provided by k positioning sources for the current positioning target are expressed as P1, P2, LP k , the average positioning result is P m .

[0078] Compare the positioning result with the average value:

[0079] Confidence Matrix:

[0080] Confidence matrix vectorization:

[0081] Confidence vector: B′=[B1′,B2′LB K ′] T

[0082] P Bi That is, it represents the confidence of the i-th positioning source relative to the selected positioning target;.

[0083] The schematic diagram of the performance evaluation of multi-source fusion positioning is as follows: Figure 1 As shown in the figure, based on the multi-parameter evaluation model, the performance of each positioning fusion source is evaluated based on four parameters, and finally the performance evaluation results of multiple parameters are comprehensively considered to obtain the performance evaluation of multi-source fusion positioning.

[0084] See also Figure 2 As shown, an embodiment of the present invention provides a multi-source fusion positioning performance evaluation method based on AHP, which evaluates the performance of multi-source fusion positioning, realizes performance observation of the multi-source fusion positioning system, and ensures that the system provides efficient positioning services. The multi-source fusion positioning performance evaluation method specifically includes the following steps:

[0085] S1: Define the multi-source fusion positioning performance evaluation index, and add a new positioning source to the initial multi-source fusion positioning system to obtain a new multi-source fusion positioning system;

[0086] In the present invention, a multi-source fusion positioning performance evaluation index is defined, and a new positioning source is added to the initial multi-source fusion positioning system to obtain a new multi-source fusion positioning system. The specific steps include:

[0087] S101: Define the multi-source fusion positioning performance evaluation index μ~(P ac ,P ct ,P A ,P Bi ), where μ represents the multi-source fusion positioning performance evaluation index, P ac Indicates positioning accuracy, P ct Indicates signal continuity, P A Indicates the availability of positioning source, P Bi Represents the confidence of the positioning source, that is, the confidence of the i-th positioning source relative to the selected positioning target;

[0088] S102: In the initial multi-source fusion positioning system F n Newly added positioning source fn+1 , and obtain the new multi-source fusion positioning system F n+1 ;

[0089] Among them, the initial multi-source fusion positioning system F n The multi-source fusion positioning performance evaluation index is Positioning source n+1 The multi-source fusion positioning performance evaluation index is New multi-source fusion positioning system F n+1 The multi-source fusion positioning performance evaluation index is

[0090]

[0091] in, Denotes the initial multi-source fusion positioning system F n The multi-source fusion positioning performance evaluation index, Denotes the initial multi-source fusion positioning system F n The positioning accuracy, Denotes the initial multi-source fusion positioning system F n Signal continuity, Denotes the initial multi-source fusion positioning system F n Availability of positioning sources, Denotes the initial multi-source fusion positioning system F n The confidence level of the positioning source, Indicates the location source f n+1 The multi-source fusion positioning performance evaluation index, Indicates the location source f n+1 The positioning accuracy, Indicates the location source f n+1 Signal continuity, Indicates the location source f n+1 Availability of positioning sources, Indicates the location source f n+1 The confidence level of the positioning source, Denotes the new multi-source fusion positioning system F n+1 The multi-source fusion positioning performance evaluation index, Denotes the new multi-source fusion positioning system F n+1 The positioning accuracy, Denotes the new multi-source fusion positioning system F n+1 Signal continuity, Denotes the new multi-source fusion positioning system F n+1 Availability of positioning sources, Denotes the new multi-source fusion positioning system F n+1 The confidence level of the positioning source.

[0092] S2: Calculate the multi-source fusion positioning effectiveness evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, as well as the positioning accuracy distance, signal continuity distance, and positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source;

[0093] In the present invention, the calculation of the multi-source fusion positioning performance evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, as well as the calculation of the positioning accuracy distance, signal continuity distance, and positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source are performed. The specific steps include:

[0094] S201: Calculating the distance of the multi-source fusion positioning efficiency evaluation index between the initial multi-source fusion positioning system and the new multi-source fusion positioning system;

[0095] S202: defining evaluation index weights of positioning accuracy, signal continuity, and positioning source availability;

[0096] S203: Based on the defined evaluation index weights, the positioning accuracy distance, signal continuity distance, and positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source are calculated.

[0097] In the present invention, the calculation of the positioning accuracy distance between the initial multi-source fusion positioning system and the newly added positioning source is specifically as follows:

[0098]

[0099] in, Represents the positioning accuracy distance between the initial multi-source fusion positioning system and the newly added positioning source;

[0100] The calculation of the signal continuity distance between the initial multi-source fusion positioning system and the newly added positioning source is as follows:

[0101]

[0102] in, Represents the signal continuity distance between the initial multi-source fusion positioning system and the newly added positioning source;

[0103] The calculation of the positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source is as follows:

[0104]

[0105] in, Represents the positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source;

[0106] The calculation of the distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system in terms of the multi-source fusion positioning performance evaluation index is as follows:

[0107]

[0108] in, represents the distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system in terms of the multi-source fusion positioning performance evaluation index. Represents the evaluation index weight of the defined positioning accuracy, represents the evaluation index weight of the defined signal continuity, Represents the evaluation index weight of the defined positioning source availability.

[0109] S3: Based on the multi-source fusion positioning performance evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, when it is determined that the newly added positioning source meets the requirements, a fusion weight factor is introduced and a weighted fusion positioning algorithm is used to perform confidence threshold judgment;

[0110] In the present invention, based on the multi-source fusion positioning performance evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, when it is determined that the newly added positioning source meets the requirements, a fusion weight factor is introduced and a weighted fusion positioning algorithm is used to perform confidence threshold judgment, wherein the judgment of the newly added positioning source is specifically as follows:

[0111] Set the distance threshold δ:

[0112] when When , the newly added positioning source meets the requirements;

[0113] when If the newly added positioning source does not meet the requirements, the process ends.

[0114] In the present invention, when it is determined that the newly added positioning source meets the requirements, a fusion weight factor is introduced and a weighted fusion positioning algorithm is used to perform confidence threshold judgment. The specific steps include:

[0115] S301: When the newly added positioning source meets the requirements, the fusion stage performance evaluation is performed and the fusion weight factor is introduced Then we get:

[0116]

[0117] Where n represents the initial multi-source fusion positioning system F n The total number of positioning sources in f n Denotes the initial multi-source fusion positioning system F n The nth positioning source in Denotes the initial multi-source fusion positioning system Fn The fusion weight factor corresponding to the nth positioning source in, Denotes the new multi-source fusion positioning system F n+1 The fusion weight factor, n+1 represents the new multi-source fusion positioning system F n+1 The total number of positioning sources in f n+1 Denotes the new multi-source fusion positioning system F n+1 The n+1th positioning source in Denotes the new multi-source fusion positioning system F n+1 The fusion weight factor corresponding to the n+1th positioning source in ;

[0118] S302: Define the confidence threshold ε, when When , the newly added positioning source meets the confidence threshold judgment and enters the feedback effectiveness evaluation. When , the newly added positioning source does not meet the confidence threshold judgment and ends.

[0119] S4: setting a feedback effectiveness evaluation threshold, and judging the credibility of the new multi-source fusion positioning system based on the multi-source fusion positioning effectiveness evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system;

[0120] In the present invention, a feedback effectiveness evaluation threshold is set, and the credibility of the new multi-source fusion positioning system is judged based on the multi-source fusion positioning effectiveness evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system. The specific steps include:

[0121] S401: Setting a feedback effectiveness evaluation threshold ω;

[0122] S402: When This indicates that the new multi-source fusion positioning system F n+1 is credible, otherwise, the new multi-source fusion positioning system F n+1 Unbelievable, end.

[0123] S5: According to the positioning accuracy of the initial multi-source fusion positioning system and the new multi-source fusion positioning system, the fusion weighting factor is determined to update the fusion result of the positioning source in the new multi-source fusion positioning system, thereby completing the fusion positioning performance evaluation.

[0124] In the present invention, according to the positioning accuracy of the initial multi-source fusion positioning system and the new multi-source fusion positioning system, a fusion weighting factor is determined to update the fusion result of the positioning source in the new multi-source fusion positioning system, wherein the determination of the fusion weighting factor is specifically as follows:

[0125] when When the fusion weighting factor ρ n for

[0126] when When the fusion weighting factor ρ n for

[0127]

[0128] in,

[0129] in, Denotes the initial multi-source fusion positioning system F n The variance of Denotes the new multi-source fusion positioning system F n+1 The variance of Indicates an intermediate quantity.

[0130] In the present invention, the fusion result update of the positioning sources in the new multi-source fusion positioning system is realized, wherein, for the fusion of the positioning sources in the new multi-source fusion positioning system, specifically:

[0131] F n+1 ′=ρ1f1+ρ2f2+L+ρ n f n +ρ n+1 f n+1

[0132] Among them, F n+1 ′ represents the new multi-source fusion positioning system after positioning source fusion, ρ n represents the fusion weighting factor of the nth positioning source in the new multi-source fusion positioning system, ρ n+1 Represents the fusion weighting factor of the n+1th positioning source in the new multi-source fusion positioning system.

[0133] The present invention proposes a multi-source fusion positioning performance evaluation method based on the AHP (Analytic Hierarchy Process) theory, which realizes adaptive adjustment of the fusion source weight factor, thereby improving the reliability and fusion accuracy of the multi-source fusion positioning system. When the fusion source in the fusion positioning system changes suddenly, for example, when a new positioning source is added to the fusion positioning system, it is difficult to accurately select the positioning variance, Kalman filter observation equation, and covariance matrix of the new positioning source, so that the factor graph and Kalman filter fusion algorithm cannot be used. It is necessary to use the weighted average method to fuse the new positioning source, but this method has the problem of insufficient accuracy and reliability of the fusion result. In view of the above problems, the present invention is based on the AHP theory, and monitors the whole process of the new positioning source joining the multi-source fusion positioning system from the three stages of initial stage performance evaluation, fusion stage performance evaluation and feedback stage performance evaluation, so as to improve the performance of the multi-source fusion positioning system.

[0134] The AHP-based multi-source fusion positioning performance evaluation method of the embodiment of the present invention analyzes four performance parameters including positioning accuracy, signal continuity, result availability, and fusion source confidence from three indicator levels of basic evaluation layer, extended evaluation layer and unique evaluation layer. On the basis of a multi-parameter model, the weights of evaluation indicators of multi-source fusion positioning performance evaluation are theoretically analyzed based on AHP analysis theory. In the three stages of initial stage performance evaluation, fusion stage performance evaluation and feedback stage performance evaluation, the whole process of adding new positioning sources to the multi-source fusion positioning system is monitored, and the fusion weight factor is adaptively adjusted and the fusion result is iteratively updated, so as to improve the reliability and fusion accuracy of the multi-source fusion positioning system and improve the performance of the multi-source fusion positioning system.

[0135] In a possible implementation, the embodiment of the present invention further provides a non-transitory computer-readable storage medium, the readable storage medium is located in a PLC (Programmable Logic Controller) controller, and a computer program is stored on the readable storage medium. When the program is executed by a processor, the following steps of the multi-source fusion positioning efficiency evaluation method based on AHP are implemented:

[0136] Define the multi-source fusion positioning performance evaluation index, and add a new positioning source to the initial multi-source fusion positioning system to obtain a new multi-source fusion positioning system;

[0137] Calculate the multi-source fusion positioning effectiveness evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, as well as the positioning accuracy distance, signal continuity distance, and positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source;

[0138] Based on the multi-source fusion positioning performance evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, when it is determined that the newly added positioning source meets the requirements, a fusion weight factor is introduced and a weighted fusion positioning algorithm is used to make a confidence threshold judgment;

[0139] Set the feedback effectiveness evaluation threshold, and make a credibility judgment on the new multi-source fusion positioning system based on the multi-source fusion positioning effectiveness evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system;

[0140] According to the positioning accuracy of the initial multi-source fusion positioning system and the new multi-source fusion positioning system, the fusion weighting factor is determined to update the fusion result of the positioning source in the new multi-source fusion positioning system.

[0141] The storage medium may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device or device.

[0142] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0143] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0144] The embodiment of the present invention provides a multi-source fusion positioning effectiveness evaluation device based on AHP, which includes a definition module, a calculation module, a determination module, a judgment module and a fusion module.

[0145] The definition module is used to define the multi-source fusion positioning efficiency evaluation index, and add a new positioning source to the initial multi-source fusion positioning system to obtain a new multi-source fusion positioning system; the calculation module is used to calculate the multi-source fusion positioning efficiency evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, as well as the positioning accuracy distance, signal continuity distance, and positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source; the judgment module is used to introduce a fusion weight factor and use a weighted fusion positioning algorithm to make a confidence threshold judgment when judging that the newly added positioning source meets the requirements based on the multi-source fusion positioning efficiency evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system; the judgment module is used to set the feedback efficiency evaluation threshold, and make a credibility judgment of the new multi-source fusion positioning system based on the multi-source fusion positioning efficiency evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system; the fusion module is used to determine the fusion weight factor according to the positioning accuracy of the initial multi-source fusion positioning system and the new multi-source fusion positioning system, so as to update the fusion results of the positioning sources in the new multi-source fusion positioning system.

[0146] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

[0147] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the process in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

Claims

1. A multi-source fusion positioning performance evaluation method based on AHP, characterized in that: The specific steps include: Define the multi-source fusion positioning performance evaluation index, and add a new positioning source to the initial multi-source fusion positioning system to obtain a new multi-source fusion positioning system; Calculate the multi-source fusion positioning effectiveness evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, as well as the positioning accuracy distance, signal continuity distance, and positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source; Based on the multi-source fusion positioning performance evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, when it is determined that the newly added positioning source meets the requirements, a fusion weight factor is introduced and a weighted fusion positioning algorithm is used to make a confidence threshold judgment; Set the feedback effectiveness evaluation threshold, and make a credibility judgment on the new multi-source fusion positioning system based on the multi-source fusion positioning effectiveness evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system; According to the positioning accuracy of the initial multi-source fusion positioning system and the new multi-source fusion positioning system, the fusion weighting factor is determined to update the fusion result of the positioning source in the new multi-source fusion positioning system.

2. The method for evaluating the effectiveness of multi-source fusion positioning based on AHP as claimed in claim 1, characterized in that: The definition of the multi-source fusion positioning performance evaluation index and adding a new positioning source to the initial multi-source fusion positioning system to obtain a new multi-source fusion positioning system specifically include the following steps: Define the multi-source fusion positioning performance evaluation index μ~(P ac ,P ct ,P A ,P Bi ), where μ represents the multi-source fusion positioning performance evaluation index, P ac Indicates positioning accuracy, P ct Indicates signal continuity, P A Indicates the availability of positioning source, P Bi Represents the confidence of the positioning source, that is, the confidence of the i-th positioning source relative to the selected positioning target; In the initial multi-source fusion positioning system F n Newly added positioning source f n+1 , and obtain the new multi-source fusion positioning system F n+1 ; Among them, the initial multi-source fusion positioning system F n The multi-source fusion positioning performance evaluation index is Positioning source n+1 The multi-source fusion positioning performance evaluation index is New multi-source fusion positioning system F n+1 The multi-source fusion positioning performance evaluation index is in, Denotes the initial multi-source fusion positioning system F n The multi-source fusion positioning performance evaluation index, Denotes the initial multi-source fusion positioning system F n The positioning accuracy, Denotes the initial multi-source fusion positioning system F n Signal continuity, Denotes the initial multi-source fusion positioning system F n Availability of positioning sources, Denotes the initial multi-source fusion positioning system F n The confidence level of the positioning source, Indicates the location source f n+1 The multi-source fusion positioning performance evaluation index, Indicates the location source f n+1 The positioning accuracy, Indicates the location source f n+1 Signal continuity, Indicates the location source f n+1 Availability of positioning sources, Indicates the location source f n+1 The confidence level of the positioning source, Denotes the new multi-source fusion positioning system F n+1 The multi-source fusion positioning performance evaluation index, Denotes the new multi-source fusion positioning system F n+1 The positioning accuracy, Denotes the new multi-source fusion positioning system F n+1 Signal continuity, Denotes the new multi-source fusion positioning system F n+1 Availability of positioning sources, Denotes the new multi-source fusion positioning system F n+1 The confidence level of the positioning source.

3. The method for evaluating the effectiveness of multi-source fusion positioning based on AHP as claimed in claim 2, characterized in that: The calculation of the multi-source fusion positioning performance evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, as well as the calculation of the positioning accuracy distance, signal continuity distance, and positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source, specifically includes the following steps: Calculate the distance of the multi-source fusion positioning effectiveness evaluation index between the initial multi-source fusion positioning system and the new multi-source fusion positioning system; Define the evaluation index weights for positioning accuracy, signal continuity and positioning source availability; Based on the defined evaluation index weights, the positioning accuracy distance, signal continuity distance, and positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source are calculated.

4. The method for evaluating the effectiveness of multi-source fusion positioning based on AHP as claimed in claim 3, characterized in that: The calculation of the positioning accuracy distance between the initial multi-source fusion positioning system and the newly added positioning source is as follows: in, Represents the positioning accuracy distance between the initial multi-source fusion positioning system and the newly added positioning source; The calculation of the signal continuity distance between the initial multi-source fusion positioning system and the newly added positioning source is as follows: in, Represents the signal continuity distance between the initial multi-source fusion positioning system and the newly added positioning source; The calculation of the positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source is as follows: in, Represents the positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source; The calculation of the distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system in terms of the multi-source fusion positioning performance evaluation index is as follows: in, represents the distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system in terms of the multi-source fusion positioning performance evaluation index. Represents the evaluation index weight of the defined positioning accuracy, represents the evaluation index weight of the defined signal continuity, Represents the evaluation index weight of the defined positioning source availability.

5. The method for evaluating the effectiveness of multi-source fusion positioning based on AHP as claimed in claim 4, characterized in that: When it is determined that the newly added positioning source meets the requirements based on the multi-source fusion positioning performance evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, a fusion weight factor is introduced and a weighted fusion positioning algorithm is used to perform confidence threshold judgment, wherein the judgment of the newly added positioning source is specifically as follows: Set the distance threshold δ: when When , the newly added positioning source meets the requirements; when If the newly added positioning source does not meet the requirements, the process ends.

6. The method for evaluating the effectiveness of multi-source fusion positioning based on AHP as claimed in claim 4, characterized in that: When it is determined that the newly added positioning source meets the requirements, a fusion weight factor is introduced and a weighted fusion positioning algorithm is used to perform confidence threshold judgment. The specific steps include: When the newly added positioning source meets the requirements, the fusion stage performance evaluation is performed and the fusion weight factor is introduced Then we get: Where n represents the initial multi-source fusion positioning system F n The total number of positioning sources in f n Denotes the initial multi-source fusion positioning system F n The nth positioning source in Denotes the initial multi-source fusion positioning system F n The fusion weight factor corresponding to the nth positioning source in, Denotes the new multi-source fusion positioning system F n+1 The fusion weight factor, n+1 represents the new multi-source fusion positioning system F n+1 The total number of positioning sources in f n+1 Denotes the new multi-source fusion positioning system F n+1 The n+1th positioning source in Denotes the new multi-source fusion positioning system F n+1 The fusion weight factor corresponding to the n+1th positioning source in ; Define the confidence threshold ε, when When , the newly added positioning source meets the confidence threshold judgment and enters the feedback effectiveness evaluation. When , the newly added positioning source does not meet the confidence threshold judgment and ends.

7. The method for evaluating the effectiveness of multi-source fusion positioning based on AHP as claimed in claim 6, characterized in that: The feedback effectiveness evaluation threshold is set, and the credibility of the new multi-source fusion positioning system is judged based on the multi-source fusion positioning effectiveness evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system. The specific steps include: Set the feedback effectiveness evaluation threshold ω; when When the new multi-source fusion positioning system F n+1 is credible, otherwise, the new multi-source fusion positioning system F n+1 Unbelievable, end.

8. The method for evaluating the effectiveness of multi-source fusion positioning based on AHP as claimed in claim 7, characterized in that: According to the positioning accuracy of the initial multi-source fusion positioning system and the new multi-source fusion positioning system, a fusion weighting factor is determined to update the fusion result of the positioning source in the new multi-source fusion positioning system, wherein the determination of the fusion weighting factor is specifically as follows: when When the fusion weighting factor ρ n for when When the fusion weighting factor ρ n for in, in, Denotes the initial multi-source fusion positioning system F n The variance of Denotes the new multi-source fusion positioning system F n+1 The variance of Indicates an intermediate quantity.

9. The method for evaluating the effectiveness of multi-source fusion positioning based on AHP as claimed in claim 7, characterized in that: The updating of the fusion result of the positioning source in the new multi-source fusion positioning system is realized, wherein, for the fusion of the positioning source in the new multi-source fusion positioning system, specifically: F n+1 ′=ρ1f1+ρ2f2+L+ρ n f n +r n+1 f n+1 Among them, F n+1 ′ represents the new multi-source fusion positioning system after positioning source fusion, ρ n represents the fusion weighting factor of the nth positioning source in the new multi-source fusion positioning system, ρ n+1 Represents the fusion weighting factor of the n+1th positioning source in the new multi-source fusion positioning system.

10. A multi-source fusion positioning performance evaluation device based on AHP, characterized in that: include: A definition module is used to define a multi-source fusion positioning performance evaluation index and add a new positioning source to the initial multi-source fusion positioning system to obtain a new multi-source fusion positioning system; A calculation module, which is used to calculate the multi-source fusion positioning effectiveness evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system, and the positioning accuracy distance, signal continuity distance, and positioning source availability distance between the initial multi-source fusion positioning system and the newly added positioning source; A judgment module is used to introduce a fusion weight factor and use a weighted fusion positioning algorithm to make a confidence threshold judgment based on the multi-source fusion positioning performance evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system when judging that the newly added positioning source meets the requirements; A judgment module, which is used to set a feedback effectiveness evaluation threshold and to judge the credibility of the new multi-source fusion positioning system based on the multi-source fusion positioning effectiveness evaluation index distance between the initial multi-source fusion positioning system and the new multi-source fusion positioning system; The fusion module is used to determine the fusion weighting factor according to the positioning accuracy of the initial multi-source fusion positioning system and the new multi-source fusion positioning system, so as to update the fusion result of the positioning source in the new multi-source fusion positioning system.

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