A precise positioning fusion redundancy method, system, device and storage medium

Abstract

The application discloses a precise positioning fusion redundancy method, system, device and storage medium, and the method comprises the following steps: collecting state information of each mechanism by a sensor to obtain an observation state, wherein the state comprises the position and speed of the mechanism; performing RLS online self-calibration on the observation state of the redundant sensor; calculating a predicted state at the current moment according to the fusion state at the last moment and system input; deriving the theoretical observation value of each sensor under the state according to the predicted state; calculating the residual of the observation state of the sensor after RLS online self-calibration and the theoretical observation value; when the residual is greater than a threshold value, eliminating the observation state of the abnormal sensor; dynamically adjusting the fusion weight according to the confidence and residual of the observation state of each sensor; and fusing the predicted state and the observation state of the sensor based on the fusion weight to obtain the fusion state at the current moment. The application significantly improves the positioning precision and enhances the robustness and reliability of the system.

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