An adaptive intelligent parameter-adjusting Beidou inertial navigation fusion positioning method and system

Abstract

The application discloses a Beidou inertial navigation fusion positioning method and system with adaptive intelligent parameter adjustment, and the method comprises the following steps: based on a state estimator and an actor-critic network, an adaptive denoising model is constructed; the adaptive denoising model is trained, and actual data is input into the trained adaptive denoising model to obtain a noise parameter correction value; the noise covariance matrix of a Kalman filter fusion positioning model is adaptively adjusted according to the noise parameter correction value; and accurate position information is obtained according to the fusion positioning model after adaptive denoising. The system comprises a denoising model construction module, a parameter learning module, a parameter adjustment module and a fusion positioning module. Through the use of the application, dynamic noise that cannot be modeled in fusion positioning and adaptive adjustment parameters can be effectively removed, and the adaptability of a positioning system to a complex dynamic urban environment is improved. The application can be widely applied to the field of satellite navigation.

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