GPS signal correction method and electronic device

Abstract

This invention provides a GPS signal correction method and electronic device, relating to the field of navigation and positioning technology. The method includes: performing feature filtering and inertial navigation consistency verification on the GPS signal to determine if it is distorted; if distorted, performing data processing delay compensation on the predicted inertial navigation position and the measured GPS position respectively, calculating the difference between the two, and dynamically adjusting the weights of the compensated predicted inertial navigation position and the compensated measured GPS position based on the difference; and finally, weighted summing of the compensated predicted inertial navigation position and the compensated measured GPS position to obtain the target position. This application accurately identifies GPS signal distortion through a dual verification mechanism, and dynamically adjusts and fuses the weights of the two data sources based on the difference, achieving adaptive optimization in both distorted and normal scenarios. This improves the overall accuracy and stability of positioning in complex interference environments, while also considering system robustness and real-time performance.

Description

Technical Field

[0001] This invention relates to the field of navigation and positioning technology, and in particular to a GPS signal correction method and electronic device. Background Technology

[0002] GPS (Global Positioning System) has been widely used in various fields such as vehicle navigation, drone flight, and smart wearable devices due to its advantages of wide positioning range and low cost. Its positioning accuracy and stability directly determine the operational reliability of terminal devices. In practical application scenarios, GPS signals are easily affected by complex environments, leading to abnormal positioning data and posing challenges to positioning services.

[0003] In existing technologies, when GPS data is abnormal, the data from the abnormal time is usually directly discarded, and then inertial navigation positioning is assisted by GPS data from the previous time. However, this method lacks flexibility, and excessive data rejection will result in the loss of effective positioning information, leading to a decrease in positioning continuity and low positioning accuracy. Summary of the Invention

[0004] This invention provides a GPS signal correction method and an electronic device to solve the problem of insufficient positioning continuity and accuracy caused by existing GPS data anomaly processing methods.

[0005] In a first aspect, embodiments of the present invention provide a GPS signal correction method, comprising:

[0006] Perform signal feature filtering and inertial navigation consistency verification on the GPS signal at the current moment to determine whether the GPS signal at the current moment is distorted;

[0007] If so, the predicted inertial navigation position at the current moment is determined based on the accurate GPS signal from the previous moment.

[0008] Data delay compensation is performed on the predicted inertial navigation position and the measured GPS position at the current time to obtain the compensated predicted inertial navigation position and the compensated measured GPS position.

[0009] Calculate the first difference between the compensated predicted inertial navigation position and the compensated actual GPS position, and dynamically adjust the weights of the compensated predicted inertial navigation position and the compensated actual GPS position based on the first difference;

[0010] The target position is obtained by weighted summation of the compensated predicted inertial navigation position and the compensated measured GPS position.

[0011] In a second aspect, embodiments of the present invention provide an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect or any possible implementation thereof.

[0012] This invention provides a GPS signal correction method and an electronic device. The GPS signal correction method includes: performing signal feature screening and inertial navigation consistency verification on the GPS signal at the current moment to determine whether the GPS signal at the current moment is distorted; if so, determining the predicted inertial navigation position at the current moment based on the accurate GPS signal at the previous moment; performing data calculation delay compensation on the predicted inertial navigation position and the measured GPS position at the current moment respectively to obtain the compensated predicted inertial navigation position and the compensated measured GPS position; calculating a first difference between the compensated predicted inertial navigation position and the compensated measured GPS position, and dynamically adjusting the weights of the compensated predicted inertial navigation position and the compensated measured GPS position based on the first difference; and weighted summing of the compensated predicted inertial navigation position and the compensated measured GPS position to obtain the target position. This application employs a dual mechanism of signal feature screening and inertial navigation consistency verification to accurately identify GPS signal distortion and avoid the risk of misjudgment from a single judgment. Simultaneously, it combines data processing delay compensation to eliminate spatiotemporal misalignment errors, resolving the timing mismatch issue between GPS and inertial navigation data. Finally, based on the difference, it dynamically adjusts and fuses the weights of the two data sources, achieving adaptive optimization by relying on inertial navigation to maintain positioning continuity in distorted scenarios and on GPS to calibrate accuracy in normal scenarios. This application significantly improves the accuracy and stability of positioning in complex interference environments, while also enhancing the system's robustness and real-time performance. Attached Figure Description

[0013] Figure 1 This is a flowchart illustrating the implementation of a GPS signal correction method provided in an embodiment of the present invention;

[0014] Figure 2 This is a schematic diagram of the GPS signal correction device provided in an embodiment of the present invention;

[0015] Figure 3 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0016] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0017] See Figure 1 The diagram illustrates a flowchart of a GPS signal correction method provided by an embodiment of the present invention, which is described in detail below:

[0018] The above-mentioned GPS signal correction methods include:

[0019] S101: Perform signal feature filtering and inertial navigation consistency verification on the GPS signal at the current moment to determine whether the GPS signal at the current moment is distorted;

[0020] This application performs signal feature screening and inertial navigation consistency verification on the GPS signal at the current moment to ultimately determine whether the GPS signal at that moment is distorted, thus ensuring the accuracy of subsequent positioning results.

[0021] In one possible implementation, S101 may include:

[0022] S1011: Obtain the characteristic parameters of the GPS signal at the current time, and filter the GPS signal at the current time based on the characteristic parameters to obtain the updated GPS signal;

[0023] First, obtain the characteristic parameters of the GPS signal at the current moment. Based on these characteristic parameters, filter the original GPS signal and remove signal components that do not meet the quality requirements. Eliminate the potential for distortion caused by defects in the signal quality itself, and lay the foundation for subsequent positioning calculation and consistency verification.

[0024] In one possible implementation, the various feature parameters may include: signal-to-noise ratio, pseudorange residual, and multiple positioning solution accuracy factors.

[0025] Signal-to-noise ratio (SNR) reflects the ratio of effective signal to noise in a GPS signal. A low SNR can lead to increased signal resolution error and can be used as a basic parameter for judging signal quality.

[0026] The pseudorange residual is the deviation between the pseudorange measurement value and the theoretical calculation value. It directly reflects the accuracy of the pseudorange measurement. If the residual exceeds the reasonable range, it indicates that the signal may be interfered with. It can also be used to judge the signal quality.

[0027] The accuracy factor for positioning calculation can include position accuracy factor (PDOP), horizontal accuracy factor (HDOP), vertical accuracy factor (VDOP), etc. The smaller the accuracy factor value, the higher the accuracy of the positioning result, which can be used as an important basis for judging the validity of the signal.

[0028] Specifically, thresholds can be set according to the characteristics of each feature parameter, retaining only GPS signals that meet the threshold requirements for each feature parameter, and removing abnormal signals that exceed the threshold range as the updated GPS signals.

[0029] S1012: Determine the current GPS measured position based on the updated GPS signal;

[0030] Based on the updated GPS signal, the current GPS position is calculated and determined using a conventional GPS positioning algorithm. Since the updated GPS signal has eliminated some defective signals, this measured position has preliminary reliability, providing a benchmark for subsequent comparison with the inertial navigation system's predicted position.

[0031] S1013: Determine the predicted inertial navigation position at the current moment based on the accurate GPS signal from the previous moment;

[0032] The system acquires a verified and accurate GPS signal from the previous moment, combines it with the vehicle's inertial navigation system (INS) data, and calculates the predicted INS position for the current moment using a strapdown INS algorithm. The accurate GPS signal from the previous moment provides an initial reference for prediction. The INS can predict the position based on the continuity of the vehicle's motion, and the prediction result reflects the inertial trend of the vehicle's motion, serving as a benchmark for judging whether the current GPS signal is distorted.

[0033] S1014: Calculate the difference between the predicted inertial navigation position at the current time and the actual GPS position at the current time as the second difference;

[0034] The measured GPS position reflects the real-time positioning result, the predicted inertial navigation position reflects the inertial trend of the carrier's motion, and the second difference is verified by comparing the two data sources to confirm the authenticity of the GPS signal.

[0035] It should be noted that the second difference is calculated for three-dimensional spatial coordinates (longitude, latitude, and elevation), and the Euclidean distance between the two locations can be used as the second difference.

[0036] S1015: Based on the second difference, determine whether the GPS signal at the current moment is distorted.

[0037] In one possible implementation, S1015 may include:

[0038] 1. If the second difference is greater than the fourth preset threshold, then the GPS signal is determined to be distorted at the current moment;

[0039] 2. If the second difference is not greater than the fourth preset threshold, then determine whether the GPS signal at the current moment is distorted based on the carrier motion data collected by the gyroscope and accelerometer.

[0040] A fourth preset threshold is set as a reasonable deviation range. If the second difference is greater than the fourth preset threshold, it indicates that the deviation between the GPS measured position and the inertial navigation predicted position exceeds the reasonable range, and the GPS signal is directly judged to be distorted at the current moment; if the second difference is not greater than the fourth preset threshold, it indicates that the deviation between the two is within the reasonable range, but further verification is required in conjunction with the actual motion data of the carrier to avoid misjudgment caused by sudden movement of the carrier.

[0041] It should be noted that the fourth preset threshold is a reasonable critical value for the position deviation between GPS and predicted inertial navigation, and can be set according to actual application requirements, such as determining it based on industry-standard criteria or experimental verification. For example, the fourth preset threshold can be 10 meters.

[0042] In one possible implementation, determining whether the GPS signal is distorted at the current moment based on the carrier motion data collected by the gyroscope and accelerometer includes:

[0043] (1) Determine the velocity and acceleration of the carrier based on the carrier motion data collected by the gyroscope and accelerometer at the current moment;

[0044] (2) Determine whether the carrier's velocity and acceleration match the second difference;

[0045] (3) If a match is found, then the GPS signal at the current time is determined to be undistorted;

[0046] (4) If there is no match, the GPS signal at the current time is determined to be distorted.

[0047] The carrier's velocity and acceleration determine the reasonable range of position variation within a sampling period. For example, the velocity is... acceleration is The change in position of the carrier within one sampling period. If the change in position matches the second difference, it indicates that the second difference is caused by the actual movement of the carrier; otherwise, it indicates that the second difference is not caused by actual movement, and the GPS signal is distorted. Based on this, this application analyzes and calculates the carrier's velocity and acceleration from the carrier's motion data. If the carrier's velocity and acceleration match the second difference, it indicates that the GPS measured position conforms to the carrier's motion logic, and it is determined that the GPS signal is not distorted at the current moment; if they do not match, it indicates that the GPS measured position contradicts the actual motion state of the carrier, and it is determined that the GPS signal is distorted at the current moment.

[0048] Specifically, determining whether the carrier's velocity and acceleration match the second difference can include:

[0049] Based on the carrier's velocity and acceleration, the position change within one sampling period is calculated using the above formula for the change.

[0050] If the second difference is less than If the second difference is found, then the carrier's velocity and acceleration match the second difference; otherwise, they do not match.

[0051] in, The error coefficient can be 1.1 to 1.3, and can be set according to industry-standard error criteria and actual application requirements.

[0052] S102: If so, determine the predicted inertial navigation position at the current moment based on the accurate GPS signal from the previous moment.

[0053] Similar to S1013, the strapdown inertial navigation system (SINS) calculation algorithm is used to determine the predicted inertial navigation position at the current moment. This is an existing technology, and the details will not be elaborated here.

[0054] S103: Perform data calculation delay compensation on the predicted inertial navigation position and the actual GPS position at the current time to obtain the compensated predicted inertial navigation position and the compensated actual GPS position.

[0055] Since the system data processing has inherent delays, the location data may deviate from the actual time. This application eliminates the effects of delays through targeted compensation, so that the two types of location data are on the same time reference, thereby improving the accuracy of subsequent difference calculation and weight adjustment.

[0056] In one possible implementation, S103 may include:

[0057] S1031: Obtain system data calculation delay duration;

[0058] The inherent delay in system data processing can be collected and recorded, and this can be obtained through testing.

[0059] Specifically, the delay duration is determined through multiple tests, and the average is calculated as the final system data delay duration.

[0060] S1032: Associate the current GPS measured position with the time of the system data calculation delay before the current time, and perform position compensation to obtain the compensated GPS measured position;

[0061] The current GPS measured position is correlated with the time corresponding to the system data processing delay before the current time, and position compensation is performed based on the vehicle's motion trend to obtain the compensated GPS measured position. Through time backtracking and position correction, the time deviation of the measured position caused by the processing delay is eliminated, ensuring its consistency with the time dimension of the inertial navigation predicted position.

[0062] For example, the current time is The system data processing delay is Δt. If the current GPS measured location is given, then... Associated with Then, position compensation is performed based on the carrier's motion trend to obtain the compensated GPS measured position.

[0063] Specifically, it can be based on... Time and The carrier motion data at any given time determines the carrier's average velocity and direction of motion (i.e., the carrier's motion trend), and based on the average velocity, determines... Displacement of the internal carrier ,by Based on the reference point, move along the direction of motion. The compensated GPS measured location was obtained.

[0064] S1033: Based on the predicted inertial navigation position at the previous moment, the inertial navigation predicted position at the moment when the system data solution delay time was before the current moment is back calculated by the strapdown inertial navigation algorithm, and this position is used as the compensated predicted inertial navigation position.

[0065] The strapdown inertial navigation algorithm can accurately trace the historical motion trajectory of the vehicle, ensuring that the retrospective inertial navigation position and the compensated GPS measured position are at the same time node, providing reliable data for subsequent difference calculation.

[0066] S104: Calculate the first difference between the compensated predicted inertial navigation position and the compensated actual GPS position, and dynamically adjust the weights of the compensated predicted inertial navigation position and the compensated actual GPS position based on the first difference;

[0067] The smaller the deviation between the two types of location data, the better the consistency, and the more reliable data can be assigned a higher weight; the larger the deviation, the less reliable one type of data is, and its weight should be reduced or even set to zero. Based on this, the weights are dynamically adjusted according to the first difference.

[0068] In one possible implementation, S104 may include:

[0069] S1041: If the absolute value of the first difference is not greater than the first preset threshold, then the weight of the compensated predicted inertial navigation position is the first preset weight, and the weight of the compensated GPS measured position is the second preset weight; wherein, the second preset weight is greater than the first preset weight.

[0070] The absolute value of the first difference is no greater than the first preset threshold. At this point, the two types of location data are in good agreement, and the reliability of the GPS measured location is high. The weight of the compensated predicted inertial navigation position is set to the first preset weight (0.3), and the weight of the compensated GPS measured location is set to the second preset weight (0.7). The GPS measured location data is given priority.

[0071] S1042: If the absolute value of the first difference is greater than the first preset threshold and less than the second preset threshold, then the weight of the compensated predicted inertial navigation position is the third preset weight, and the weight of the compensated GPS measured position is the fourth preset weight; wherein, the fourth preset weight is less than the third preset weight.

[0072] If the absolute value of the first difference is greater than the first preset threshold and less than the second preset threshold, it indicates that there is a certain deviation between the two types of position data, the reliability of GPS measured position decreases, and the reliability of inertial navigation predicted position relatively improves. The weight of the compensated predicted inertial navigation position is set to the third preset weight (0.8), and the weight of the compensated GPS measured position is set to the fourth preset weight (0.2), and the inertial navigation predicted position data is given priority.

[0073] In one possible implementation, the first preset weight can be 0.3, the second preset weight can be 0.7, the third preset weight is 0.8, and the fourth preset weight is 0.2.

[0074] S1043: If the absolute value of the first difference is not less than the second preset threshold and less than the third preset threshold, then the weight of the compensated GPS measured position is 0 and the weight of the compensated predicted inertial navigation position is 1.

[0075] If the absolute value of the first difference is not less than the second preset threshold and is less than the third preset threshold, it indicates that the deviation between the two types of position data is large, the reliability of the GPS measured position is extremely low, and it must be completely discarded. The weight of the compensated GPS measured position is set to 0, and the weight of the compensated predicted inertial navigation position is set to 1, thus fully accepting the inertial navigation predicted position data.

[0076] Furthermore, if the absolute value of the first difference is not less than the third preset threshold, it indicates that the deviation between the two types of location data is extremely large. Not only is the reliability of the GPS measured location completely invalid, but the inertial navigation predicted location may also be abnormal due to accumulated errors or sudden interference. At this time, the emergency positioning mechanism is activated, and the conventional weighted solution logic is returned to normal after the data is restored.

[0077] The first, second, and third preset thresholds are used as criteria for defining the deviation gradients of the two types of location data. The first preset threshold is the critical value for deviation where there is no significant distortion in the GPS measured location; the second preset threshold is the critical value for deviation where there is slight distortion in the GPS measured location; and the third preset threshold is the critical value for deviation where there is severe distortion in the GPS measured location. Based on the judgment logic of prioritizing GPS → prioritizing inertial navigation → fully relying on inertial navigation, the weights are adjusted through each threshold. Each threshold can be set according to actual application requirements. For example, the first preset threshold is 3 meters, the second preset threshold is 8 meters, and the third preset threshold is 15 meters. In one possible implementation, the above method may further include:

[0078] S106: Based on the deviation statistical characteristics of historical positioning data, dynamically adjust the first preset threshold, the second preset threshold, and the third preset threshold.

[0079] To improve positioning accuracy, the first, second, and third preset thresholds can be dynamically adjusted to adapt the thresholds to the carrier's motion patterns and environmental changes, thereby enhancing the rationality of weight adjustments and the adaptability of positioning results.

[0080] Specifically, the distribution characteristics of the first difference in historical location data can be statistically analyzed periodically, and the values ​​of each threshold can be iteratively optimized using the sliding window method.

[0081] For example, the distribution characteristics of the first difference within the current window are statistically analyzed, and the differences are divided into 3 groups according to the GPS signal status (normal / slightly distorted / severely distorted).

[0082] Use the 95th percentile of the first difference in the normal GPS signal as the new first preset threshold.

[0083] The median of the first difference in slightly distorted GPS signals is used as the new second preset threshold.

[0084] The 25th percentile of the first difference in severely distorted GPS signals is used as the new third preset threshold.

[0085] S105: The target position is obtained by weighted summation of the compensated predicted inertial navigation position and the compensated measured GPS position.

[0086] Based on the weights calculated above, the compensated predicted inertial navigation position and the compensated actual GPS position are weighted and summed to calculate the target position at the current moment. By adaptively allocating weights to fuse the advantages of the two types of position data, high-precision and high-stability positioning results can still be output even in GPS signal distortion scenarios.

[0087] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0088] The following are device embodiments of the present invention. For details not described in detail, please refer to the corresponding method embodiments described above.

[0089] Figure 2 A schematic diagram of the GPS signal correction device provided in an embodiment of the present invention is shown. For ease of explanation, only the parts related to the embodiment of the present invention are shown, and are described in detail below:

[0090] like Figure 2 As shown, the GPS signal correction device includes:

[0091] The verification module 21 is used to perform signal feature filtering and inertial navigation consistency verification on the GPS signal at the current time to determine whether the GPS signal at the current time is distorted.

[0092] The position prediction module 22 is used to determine the predicted inertial navigation position at the current moment based on the accurate GPS signal from the previous moment if the position is correct.

[0093] The compensation module 23 is used to perform data calculation delay compensation on the predicted inertial navigation position and the actual GPS position at the current time, respectively, to obtain the compensated predicted inertial navigation position and the compensated actual GPS position.

[0094] The dynamic weight determination module 24 is used to calculate the first difference between the compensated predicted inertial navigation position and the compensated actual GPS position, and dynamically adjust the weights of the compensated predicted inertial navigation position and the compensated actual GPS position based on the first difference.

[0095] The position optimization module 25 is used to perform a weighted summation of the compensated predicted inertial navigation position and the compensated measured GPS position to obtain the target position.

[0096] In one possible implementation, the dynamic weight determination module 24 includes:

[0097] The first judgment unit is used to determine the weight of the compensated predicted inertial navigation position as the first preset weight and the weight of the compensated GPS measured position as the second preset weight if the absolute value of the first difference is not greater than the first preset threshold; wherein the second preset weight is greater than the first preset weight.

[0098] The second judgment unit is used to determine if the absolute value of the first difference is greater than the first preset threshold and less than the second preset threshold, then the weight of the compensated predicted inertial navigation position is the third preset weight, and the weight of the compensated GPS measured position is the fourth preset weight; wherein the fourth preset weight is less than the third preset weight.

[0099] The third judgment unit is used to determine that if the absolute value of the first difference is not less than the second preset threshold and is less than the third preset threshold, then the weight of the compensated GPS measured position is 0 and the weight of the compensated predicted inertial navigation position is 1.

[0100] In one possible implementation, the above-described apparatus may further include:

[0101] The threshold dynamic optimization module is used to dynamically adjust the first preset threshold, the second preset threshold, and the third preset threshold based on the deviation statistical characteristics of historical positioning data.

[0102] In one possible implementation, the first preset weight is 0.3, the second preset weight is 0.7, the third preset weight is 0.8, and the fourth preset weight is 0.2.

[0103] In one possible implementation, the compensation module 23 may include:

[0104] The parameter acquisition unit is used to obtain the system data calculation delay time;

[0105] The first compensation unit is used to associate the current GPS measured position with the time of the system data calculation delay before the current time, and perform position compensation to obtain the compensated GPS measured position.

[0106] The second compensation unit is used to backtrack and calculate the predicted inertial navigation position at the moment before the current moment based on the predicted inertial navigation position at the previous moment, using the strapdown inertial navigation algorithm, and use it as the compensated predicted inertial navigation position.

[0107] In one possible implementation, the verification module 21 may include:

[0108] The data filtering unit is used to acquire various characteristic parameters of the GPS signal at the current time, and filter the GPS signal at the current time based on each characteristic parameter to obtain the updated GPS signal.

[0109] The measured position output unit is used to determine the current GPS measured position based on the updated GPS signal;

[0110] The predicted position output unit is used to determine the predicted inertial navigation position at the current moment based on the accurate GPS signal from the previous moment.

[0111] The difference calculation unit is used to calculate the difference between the predicted inertial navigation position at the current time and the actual GPS position at the current time as the second difference;

[0112] The distortion judgment unit is used to determine whether the GPS signal at the current moment is distorted based on the second difference.

[0113] In one possible implementation, the distortion determination unit can be specifically used for:

[0114] 1. If the second difference is greater than the fourth preset threshold, then the GPS signal is determined to be distorted at the current moment;

[0115] 2. If the second difference is not greater than the fourth preset threshold, then determine whether the GPS signal at the current moment is distorted based on the carrier motion data collected by the gyroscope and accelerometer.

[0116] In one possible implementation, determining whether the GPS signal is distorted at the current moment based on the carrier motion data collected by the gyroscope and accelerometer may include:

[0117] (1) Determine the velocity and acceleration of the carrier based on the carrier motion data collected by the gyroscope and accelerometer at the current moment;

[0118] (2) Determine whether the carrier's velocity and acceleration match the second difference;

[0119] (3) If a match is found, then the GPS signal at the current time is determined to be undistorted;

[0120] (4) If there is no match, the GPS signal at the current time is determined to be distorted.

[0121] In one possible implementation, the various feature parameters may include: signal-to-noise ratio, pseudorange residual, and multiple positioning solution accuracy factors.

[0122] Figure 3 This is a schematic diagram of the electronic device 3 provided in an embodiment of the present invention. Figure 3 As shown, the electronic device 3 of this embodiment includes a processor 30 and a memory 31. The memory 31 stores a computer program 32. When the processor 30 executes the computer program 32, it implements the steps in the various method embodiments described above. Alternatively, when the processor 30 executes the computer program 32, it implements the functions of each module / unit in the various device embodiments described above.

[0123] For example, computer program 32 may be divided into one or more modules / units, which are stored in memory 31 and executed by processor 30 to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 32 in electronic device 3.

[0124] Electronic device 3 may include, but is not limited to, processor 30 and memory 31. Those skilled in the art will understand that... Figure 3 This is merely an example of electronic device 3 and does not constitute a limitation on electronic device 3. It may include more or fewer components than shown, or combine certain components, or different components. For example, electronic device 3 may also include input / output devices, network access devices, buses, etc.

[0125] The processor 30 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0126] The memory 31 can be an internal storage unit of the electronic device 3, such as a hard disk or memory of the electronic device 3. The memory 31 can also be an external storage device of the electronic device 3, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 3. Furthermore, the memory 31 can include both internal and external storage units of the electronic device 3. The memory 31 is used to store the computer program 32 and other programs and data required by the electronic device 3. The memory 31 can also be used to temporarily store data that has been output or will be output.

[0127] For the sake of simplicity and clarity, only the above-described functional modules / units are used as examples. In practical applications, the functions described above can be assigned to different functional modules / units as needed. These modules / units can be implemented in hardware, software, or a combination of both.

[0128] This invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the methods described in the above-described method embodiments.

[0129] This invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the methods described in the above-described method embodiments.

[0130] Computer programs include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. Computer-readable media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0131] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not detailed or described in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Unless otherwise specified or in conflict with logic, the terminology and / or descriptions between different embodiments are consistent and can be referenced interchangeably. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0132] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A GPS signal correction method, characterized in that, include: The GPS signal at the current moment is subjected to signal feature filtering and inertial navigation consistency verification to determine whether the GPS signal at the current moment is distorted. If so, the predicted inertial navigation position at the current moment is determined based on the accurate GPS signal from the previous moment. Data calculation delay compensation is performed on the predicted inertial navigation position and the actual GPS position at the current time to obtain the compensated predicted inertial navigation position and the compensated actual GPS position. The difference between the compensated predicted inertial navigation position and the compensated actual GPS position is calculated as a first difference, and the weights of the compensated predicted inertial navigation position and the compensated actual GPS position are dynamically adjusted based on the first difference. The target position is obtained by weighted summing of the compensated predicted inertial navigation position and the compensated actual GPS position. The step of performing data calculation delay compensation on the predicted inertial navigation position and the measured GPS position at the current time to obtain the compensated predicted inertial navigation position and the compensated measured GPS position includes: Obtain system data and calculate latency; The current GPS measured location is associated with the time of the system data calculation delay before the current time, and location compensation is performed to obtain the compensated GPS measured location. Based on the predicted inertial navigation position at the previous moment, the inertial navigation predicted position at the moment before the current moment is calculated by backtracking the strapdown inertial navigation algorithm, and is used as the compensated predicted inertial navigation position.

2. The GPS signal correction method according to claim 1, characterized in that, The step of dynamically adjusting the weights of the compensated predicted inertial navigation position and the compensated GPS measured position based on the first difference includes: If the absolute value of the first difference is not greater than the first preset threshold, then the weight of the compensated predicted inertial navigation position is the first preset weight, and the weight of the compensated GPS measured position is the second preset weight; wherein, the second preset weight is greater than the first preset weight. If the absolute value of the first difference is greater than the first preset threshold and less than the second preset threshold, then the weight of the compensated predicted inertial navigation position is the third preset weight, and the weight of the compensated GPS measured position is the fourth preset weight; wherein, the fourth preset weight is less than the third preset weight. If the absolute value of the first difference is not less than the second preset threshold and is less than the third preset threshold, then the weight of the compensated GPS measured position is 0, and the weight of the compensated predicted inertial navigation position is 1.

3. The GPS signal correction method according to claim 2, characterized in that, The method further includes: Based on the deviation statistical characteristics of historical positioning data, the first preset threshold, the second preset threshold, and the third preset threshold are dynamically adjusted.

4. The GPS signal correction method according to claim 2, characterized in that, The first preset weight is 0.3, the second preset weight is 0.7, the third preset weight is 0.8, and the fourth preset weight is 0.

2.

5. The GPS signal correction method according to any one of claims 1 to 4, characterized in that, The step of performing signal feature filtering and inertial navigation consistency verification on the GPS signal at the current moment to determine whether the GPS signal at the current moment is distorted includes: Obtain the characteristic parameters of the GPS signal at the current time, and filter the GPS signal at the current time based on the characteristic parameters to obtain the updated GPS signal; Based on the updated GPS signal, determine the current GPS measured location; Based on the accurate GPS signal from the previous moment, determine the predicted inertial navigation position at the current moment; The difference between the predicted inertial navigation position at the current moment and the actual GPS position at the current moment is calculated as the second difference; Based on the second difference, it is determined whether the GPS signal at the current moment is distorted.

6. The GPS signal correction method according to claim 5, characterized in that, The step of determining whether the GPS signal at the current moment is distorted based on the second difference includes: If the second difference is greater than the fourth preset threshold, then the GPS signal at the current moment is determined to be distorted. If the second difference is not greater than the fourth preset threshold, then the GPS signal at the current moment is determined to be distorted based on the carrier motion data collected by the gyroscope and accelerometer at the current moment.

7. The GPS signal correction method according to claim 6, characterized in that, The step of determining whether the GPS signal at the current moment is distorted based on the carrier motion data collected by the gyroscope and accelerometer includes: Based on the carrier motion data collected by the gyroscope and accelerometer at the current moment, the carrier's motion speed and acceleration are determined; Determine whether the velocity and acceleration of the carrier match the second difference; If a match is found, it is determined that the GPS signal at the current moment is not distorted; If there is no match, it is determined that the GPS signal at the current moment is distorted.

8. The GPS signal correction method according to claim 5, characterized in that, The various feature parameters include: signal-to-noise ratio, pseudorange residual, and multiple positioning solution accuracy factors.

9. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the GPS signal correction method as described in any one of claims 1 to 8.

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