Beidou and pseudo-satellite fusion positioning method, system, device and medium

Abstract

The invention belongs to the field of positioning technology. In order to solve the problem of inaccurate positioning of the existing pseudo-satellite system in a tunnel, a Beidou and pseudo-satellite fusion positioning method, system, equipment and medium are proposed. By combining Beidou satellite and pseudo-satellite technology, positioning fusion is performed through an extended Kalman filter to achieve target positioning of a moving carrier in a tunnel. Navigation positioning data in a complex environment of the tunnel is learned through a fusion model to improve the adaptability of the navigation fusion positioning system in the tunnel. The trained fusion model is used to optimize the fusion positioning result, effectively solving the problem of large positioning error caused by multipath effect, etc., and finally achieving high-precision real-time positioning of vehicles in complex environments such as tunnels.

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