1493 results about "Satellite positioning" patented technology

The invention relates to the technical field of geometric quantity precision measurement based on satellite positioning, in particular to a pumped storage power station dam safety monitoring method based on Beidou positioning, and the method comprises the steps: arranging a Beidou monitoring station and base station array in a dam body and a slope region, synchronously receiving multi-band satellite signals, and carrying out the edge calculation processing; and the effective frequency band data are screened and fused by using a signal-to-noise ratio threshold to generate preprocessed observation data, and the preprocessed observation data are uploaded to a cloud server in real time through a 4G network and a Beidou short message dual-channel transmission link. A cloud server constructs a local enhanced network, ionosphere and troposphere errors are corrected by adopting a multi-base-station joint error modeling method, a closed-loop mechanism dynamically optimizes monitoring point distribution density, signal processing parameters and atmospheric refraction compensation coefficients, and data integrity is guaranteed in combination with a dual-channel redundancy check and interpolation completion technology. According to the invention, full-domain millimeter-level deformation dynamic monitoring of the dam under the complex terrain is realized, and the space-time reference uniformity, the data real-time performance and the structure safety evaluation precision are improved.

The invention discloses a Doppler and pseudo-range fusion positioning method and system for low-orbit satellite conduction signals, and relates to satellite positioning. The method comprises the steps that a Doppler and pseudo-range observation equation is established; performing least square residual calculation on the calculated Doppler and pseudo-range theoretical values and the observed Doppler and pseudo-range measured values, and taking a grid center point coordinate corresponding to a two-norm minimum value as a receiver position initial value; performing Taylor series expansion on the Doppler and pseudo-range observation equation, and representing a state updating matrix by using the established state transition matrix and receiver position, clock error and frequency offset correction; the inverse matrix of the observation noise covariance is used as a weight matrix to be distributed to the state transition matrix; and iterating the initial position value of the receiver, updating the state updating matrix, and stopping iteration until the two-norm of the residual solution is smaller than a set threshold value, so as to obtain the position, clock error and frequency offset results of the receiver. According to the method, the low-orbit satellite positioning algorithm model can be optimized, the convergence time is shortened, and the positioning precision is improved.

The invention discloses a lineation robot control system based on a satellite positioning and orientation technology, which relates to the technical field of robot motion control and comprises a satellite positioning and orientation module, an inertial navigation module, a fusion positioning and orientation software module, a motor control software module, a motion control software module and a pattern planning software module. The satellite positioning and orientation module is used for acquiring latitude and longitude coordinates of the current position of the robot by receiving multi-frequency satellite signals; the inertial navigation module is used for collecting posture and motion data of the robot in real time through a gyroscope and an accelerometer. According to the lineation robot control system provided by the invention, through collaborative design of the multi-frequency-point GNSS receiver and the anti-multipath interference antenna array, centimeter-level continuous positioning capability in a complex urban environment is realized, and satellite signal reflection and shielding interference in scenes such as viaducts and avenues are effectively overcome; and satellite positioning and inertial navigation data are deeply fused through a tight coupling Kalman filtering algorithm.

An antenna apparatus includes a magnetic field sonde and a satellite location system antenna node.

The invention discloses a highway engineering road and bridge measurement method based on BIM, and belongs to the technical field of highway engineering measurement. According to the method, the problems that the modeling efficiency and accuracy are difficult to consider, the modeling precision of a non-important area is redundant and the like in the existing road and bridge measurement method for the highway engineering are solved. The method comprises the following steps: acquiring satellite positioning data by using a satellite positioning system in a measurement area, acquiring point cloud data by using laser scanning equipment, and acquiring road and bridge images by using image acquisition equipment; converting satellite positioning data into unified coordinate system data information, carrying out spatial registration on the unified coordinate system data information and the point cloud data, and dividing an important region and a non-important region; constructing a precise three-dimensional point cloud model for the important area, constructing a path point cloud model for the non-important area, and integrating road and bridge images; and finally fusing the model to obtain road and bridge parameters. The method can improve the model efficiency and reduce the model resource overhead while effectively improving the measurement precision, and is suitable for the measurement work of roads and bridges of highway engineering in various environments.

The invention belongs to the technical field of ocean detection, belongs to a multi-sensor fusion intelligent anti-collision method and system, comprises a sensing layer, a processing layer and an application layer, and provides an intelligent anti-collision and evidence recording ocean monitoring floating system integrating computer vision, target ranging, satellite positioning and ship automatic recognition system multi-sensor fusion. According to the invention, YOLOv8 target detection, Transform data fusion and a Kalman filtering algorithm are adopted, so that accurate detection and anti-collision early warning of ships and floating objects on the sea are realized. The system has an AIS failure processing mechanism and an evidence encryption storage function, and ensures reliable operation and data compliance under complex sea conditions.

According to the intelligent rolling construction method and system for the concrete face rockfill dam and the computer readable storage medium, self-adaptive adjustment of the rolling speed and frequency is achieved through three-dimensional digital elevation model generation, optimal rolling path planning, rolling parameter dynamic optimization model and real-time compaction degree prediction. The system integrates satellite positioning, BIM model verification, cloud data management and an abnormal protection mechanism, can correct path deviation in real time, generates a pressure supplementing instruction and stores construction data, provides an intelligent solution for high-precision and high-reliability rock-fill dam construction, and is suitable for popularization and application. The technical problems that in traditional rolling construction, manual experience is relied on, parameters are static, monitoring lags behind, and the rework rate is high can be solved.

The invention discloses a high-precision AI positioning method and system based on spatial multi-modal data fusion, and belongs to the technical field of fusion positioning, and the method specifically comprises the steps: collecting satellite positioning signals, inertial measurement data, visual images, laser radar point clouds, high-precision maps and other spatial multi-modal data; analyzing visual image illumination distribution, laser point cloud atmospheric particle density distribution and a satellite signal multipath reflection path to generate an environment physical attribute parameter set; inputting the original data of each modal into a correction function bound with environmental parameters, and outputting a standardized feature vector subjected to error compensation; and finally, inputting the recurrent neural network with space-time memory, and outputting the six-degree-of-freedom pose of the carrier by dynamically adjusting each modal feature fusion weight coefficient. According to the invention, through deep fusion of multi-modal data and environmental physical attributes, the problems of poor environmental adaptability and insufficient dynamic adjustment in the prior art are solved, and the precision and robustness of positioning in a complex scene are improved.

The invention discloses an anti-counterfeiting traceability system and method based on Beidou satellite positioning and a block chain. The method comprises the following steps: generating a current positioning data tuple; performing validity judgment on the satellite signal quality index; generating current event summary information, performing encryption calculation on the event summary information by using a private key embedded in a commodity and improving a verifiable random function, and outputting a random seed and a verification proof; constructing an event fingerprint and generating an event signature by using a private key; a challenge request is generated when the commodity request state is migrated, the commodity end device responds to the challenge request and collects new Beidou positioning information, and a challenge response data packet is constructed; and performing consistency verification on the challenge response data packet according to the virtual state resume smart contract, writing the verified data into a geographic sub-chain, recording an event abstract hash path by a main chain, and updating a commodity state transfer path. According to the invention, based on Beidou positioning and an improved verifiable random function, the credible verification of the commodity position and the traceable management of the state are realized.

The invention discloses an ambiguity determination method for satellite positioning, a terminal and a medium in the field of satellite navigation and positioning, and the method comprises the steps: obtaining observation data of a base station and a mobile station, eliminating errors through employing a double-difference technology, and carrying out the cycle slip correction, and obtaining the corrected observation data; preliminarily estimating the speed and position of the mobile station; based on the corrected observation data, extracting an optimal ambiguity subset through satellite-level and ambiguity-level screening; constructing a factor graph model by using the optimal ambiguity subset, taking the preliminarily estimated speed and position of the mobile station as initial values, minimizing an error function in a factor graph, and optimizing to obtain a floating solution of ambiguity; obtaining an integer ambiguity solution based on the floating point solution; and verifying the stability of an ambiguity resolving result through consistency, and finally obtaining an ambiguity fixed solution. According to the method provided by the invention, high precision, high efficiency and high stability of ambiguity calculation are realized, and the method is suitable for a high-precision satellite positioning system in a complex environment.

The invention provides a Beidou intelligent early warning analysis method and system applied to a drainage basin-level reservoir dam group, and the method comprises the steps: obtaining a dam body deformation time sequence record and a corresponding hydrological environment time sequence record which are collected by a monitoring system of the drainage basin-level reservoir dam group through a Beidou satellite positioning terminal; dam body deformation response mode self-encoding processing is carried out on the associated time sequence data set, a deformation response feature element set representing the dam body structure state is generated, the deformation response feature element set is input into a pre-constructed basin reservoir dam group topological relation graph, abnormal state propagation calculation is carried out through the state dependency relation between graph nodes, and the abnormal state propagation calculation is carried out. And obtaining a chain risk transmission path set, performing risk evolution trend deduction on dam nodes in each path based on the chain risk transmission path set, generating a risk evolution index matrix, and generating a threatened risk identification sequence for key dam nodes. According to the method, the structuralization and response operability of the early warning information can be improved, and the scientificity and practicability of early warning analysis of the basin-level reservoir dam group are comprehensively improved.

The invention provides a driving fatigue monitoring auxiliary system based on Beidou satellite positioning and a multi-modal data fusion technology, which relates to the field of electric digital data processing and comprises a multi-modal information sensing and acquisition module, a data preprocessing and quality assurance module, a fatigue state recognition and evaluation module and an intelligent early warning and adaptive optimization module. The multi-modal information perception and acquisition module is responsible for acquiring driver states, driving behaviors and environment information in real time, and the data preprocessing and quality assurance module is responsible for performing space-time alignment, quality evaluation and feature standardization on multi-source data. The fatigue state recognition and evaluation module is responsible for fusing multi-dimensional features and judging fatigue levels and risk trends, and the intelligent early warning and self-adaptive optimization module is responsible for implementing hierarchical intervention and continuously optimizing system performance; according to the system, the accurate space-time reference provided by Beidou satellite positioning is utilized, effective fusion of multi-source heterogeneous data is realized, and the accuracy, the real-time performance and the individuation level of fatigue monitoring are remarkably improved.

The invention discloses an operator positioning method and device, electronic equipment and a storage medium. The method comprises the following steps: determining a target positioning scene corresponding to an operator in a plurality of preset positioning scenes according to comparison between a visible satellite number and a satellite number threshold value, comparison between a signal-to-noise ratio of a visible satellite and a signal-to-noise ratio threshold value and comparison between reference signal receiving power and a reference signal receiving power threshold value; wherein the preset positioning scene at least comprises an outdoor open scene, an indoor scene, an outdoor shielded scene and a special operation scene; determining a target positioning mode matched with the target positioning scene in a plurality of preset positioning modes; wherein the preset positioning modes at least comprise Beidou satellite positioning, 5G positioning and Beidou satellite and 5G fusion positioning, and the calculation positioning mode assists the Beidou satellite and 5G fusion positioning; and positioning the operator through the target positioning mode, and determining a target positioning result of the operator. According to the scheme, the accuracy of positioning the operator can be improved.

The invention relates to the technical field of Internet of Things, and provides an obstacle avoidance method of an unmanned sweeper based on V2X communication and related equipment thereof. Space-time alignment and map initialization are carried out on satellite positioning information and real-time V2X communication data to obtain a reference electronic map, and rasterization fusion is carried out on the reference electronic map and laser radar point cloud data to obtain a dynamic obstacle probability map. Performing dynamic path planning on the dynamic obstacle probability map according to an A * algorithm to obtain an initial obstacle avoidance global path, and performing dynamic optimization on the initial obstacle avoidance global path according to real-time V2X communication data through a vehicle motion model to obtain a local optimization track; and performing motion analysis and instruction synthesis on the local optimization track through a differential driving model to obtain a driving control instruction. According to the invention, through multi-source information fusion, efficient probability mapping, double-layer path optimization and feedforward-feedback control compensation, the obstacle avoidance precision, the response speed and the driving smoothness in a complex dynamic environment are improved.

The invention discloses a pedestrian inertia / vision / satellite integrated navigation method based on a handheld terminal PDR. The pedestrian inertia / vision / satellite integrated navigation method comprises the following steps: calculating to obtain inertial navigation pose information based on strapdown inertial navigation; when the pedestrian is static, constructing an observation constraint of zero-speed motion for correction, and updating inertial navigation position information based on step length information when a new step is carried out; obtaining visual pose information of the pedestrian based on an inertia / visual fusion odometer, obtaining satellite position information of the pedestrian based on satellite positioning, and carrying out coordinate system alignment and step length coefficient correction factor estimation; a pedestrian multi-source factor graph optimization model with a handheld terminal PDR as a core is constructed, inertial navigation pose information and step length information are used as local state constraints, visual pose information and satellite position information are used as global state constraints, and a target optimization function is constructed to obtain a final pose of a pedestrian. The method is applied to the field of pedestrian navigation, has full-scene robust and continuous positioning capability, and can effectively realize high-precision navigation positioning under long endurance.

The invention discloses a high-precision real-time positioning system and method for positioning personnel based on multi-mode fusion. The system comprises a multi-source data acquisition module, an intelligent data processing module, a fusion positioning model construction module and a positioning result application module, provides visual monitoring, trajectory analysis and scene customization functions, and supports flexible expansion through modular design. According to the method, satellite positioning, Bluetooth beacon and inertial navigation technologies are integrated, the weight is dynamically adjusted in combination with an adaptive weighted fusion algorithm, and a fusion positioning model supports outdoor (satellite dominant + EKF calibration, the precision being 2-5 meters) and indoor (beacon dominant + fingerprint matching, the precision being lt); according to the invention, intelligent switching between three modes (inertial navigation + ZUPT correction) and signal loss (1 meter) is realized, data noise is optimized by using Kalman filtering, and high-precision real-time positioning in indoor and outdoor complex scenes is realized. According to the invention, the problems of insufficient precision, poor environmental adaptability and weak expansibility of a single positioning technology are solved, and the comprehensive performance of the positioning system is significantly improved.

Generate ionospheric delay correction information for satellite positioning users with high precision for one cycle. 【Solution】Based on the output result of a total electron number prediction model that is trained to output a predicted value of the total electron number at a future time (e.g., one hour later) when data such as atmospheric environmental characteristics and solar altitude angle data are input, a correction parameter (a new correction parameter replacing the ionospheric correction parameter of the existing Klobuchar model) ECP for correcting the ionospheric error is generated using an electron density distribution model expanded over a wide area by a spherical harmonic function with the total electron number at the ionospheric penetration point of the received date and time calculated using observation data obtained from ranging signals of multiple frequencies (e.g., L1 wave and L2 wave).

The invention discloses a positioning method and device based on fusion of single Beidou navigation and a high-precision RTK technology, a medium and equipment in the technical field of satellite positioning. The positioning method comprises the following steps: determining single Beidou navigation information generated by a target receiver based on a single Beidou positioning device; extracting a pseudo-range observation value and a carrier phase observation value of the B1 / B2 frequency point; extracting a satellite number, epoch time, an ionosphere delay coefficient and a troposphere delay coefficient; determining delay deviation correction data of the Beidou satellite signal; total delay deviation in the signal transmission process is measured, and whether delay deviation correction is carried out or not is judged based on the dynamic delay threshold value model and the total delay deviation in the signal transmission process; and fusing the pseudo-range observation value of the receiver and the delay deviation correction data of the Beidou satellite signal, executing double-difference carrier phase calculation, and outputting a centimeter-level positioning result. According to the method, various transmission errors can be effectively eliminated, the positioning precision is remarkably improved, and the positioning continuity and stability are ensured.

The invention relates to the technical field of positioning, in particular to a rail-mounted robot high-precision fusion positioning method and system. According to the method, the error compensation model of each track segment is constructed, dynamic correction is carried out in combination with real-time environment interference data, dynamic compensation can be carried out on pulse data generated by an incremental encoder in real time, accumulation of position errors is remarkably reduced, it is ensured that the position of the robot is more accurate, and the accuracy of the robot is improved. By fusing satellite positioning data, motion state data and pulse data after error compensation, the positioning precision of the orbital robot in each orbital segment is remarkably improved, and by monitoring the position deviation in real time and comparing the position deviation with a preset threshold value, the unqualified orbital segments can be repeatedly corrected according to needs, so that the accuracy of the orbital robot is improved. And the accuracy of the positioning result is ensured, so that the robot can adaptively optimize the positioning precision under different working scenes and environment changes, and the continuity of high-precision positioning is ensured.

The invention discloses a high-precision positioning method based on combination of a Beidou satellite and 5G-Mesh, and relates to the technical field of satellite positioning, and the method comprises the steps: receiving a navigation signal of the Beidou satellite and a communication signal of a 5G-Mesh network in real time; the topological structure change of the 5G-Mesh network is monitored in real time, and the connection relation between the nodes is dynamically adjusted in combination with network performance indexes; the receiver performs pseudo-range measurement on the signals of the visible satellites; a navigation message is demodulated from the received satellite signal, and the accurate position of each satellite at the current moment is calculated by using a satellite orbit calculation model; constructing a signal intensity fingerprint database; outputting a reference position having the highest similarity with the current signal strength characteristic to carry out error modeling on the Beidou satellite signal and the 5G-Mesh network signal; and fusing the two kinds of position information by adopting a weighted fusion algorithm. By fusing the technical advantages of the two positioning technologies, the positioning precision and reliability are improved, and the requirement for high-precision positioning in a complex scene is met.

The invention discloses a Beidou satellite intelligent positioning and communication method and system based on artificial intelligence. The method comprises the following steps: S1, receiving a satellite signal and a cooperative signal; s2, processing the received satellite signal by using a pseudo-range measurement and carrier phase difference technology, and performing preliminary positioning calculation in combination with the cooperative positioning data; s3, fusion is carried out, and a multi-modal data set is constructed; s4, dynamically adjusting weights of different data sources in the multi-modal data set according to real-time environment change by utilizing a dynamic environment perception model based on a graph neural network; s5, processing the multi-modal data set by adopting a self-adaptive Monte Carlo variational inference algorithm, and optimizing the positioning precision; s6, adjusting a filtering parameter and a signal processing strategy in real time through a self-adaptive signal processing module; and S7, dynamically optimizing the communication frequency and path by using a dominant actor-commentator algorithm. According to the invention, multi-modal data fusion and a dynamic optimization algorithm are utilized, so that the precision and stability of Beidou satellite positioning and communication are remarkably improved.

The embodiment of the invention provides a road disease inspection method and device based on AI recognition, equipment and a storage medium, and is used for road maintenance. The method comprises the steps of performing multi-source data synchronous acquisition on a road surface to obtain an original image-positioning data set, performing dynamic interference suppression and image enhancement on the original image-positioning data set to obtain a stable enhanced image sequence, and performing disease target detection and classification in combination with a deep learning recognition model to obtain a disease target set, and performing multi-target space-time correlation and satellite positioning data fusion on the disease target set to obtain a stable target trajectory set, performing geometric coordinate conversion on the stable target trajectory set to obtain a road disease data set, and performing clustering analysis through a spatial clustering analysis algorithm to generate a road disease maintenance strategy report. Through the technical means of multi-source cooperation, deep learning, space-time fusion and the like, high-precision and intelligent detection of road diseases is realized, the road maintenance efficiency is improved, and the manpower and material resource cost is reduced.

The invention discloses a path planning method and system based on Beidou satellite positioning, and relates to the technical field of Beidou satellite positioning, and the method comprises the steps: carrying out the high-precision positioning and error correction of Beidou satellite signals through employing a multi-source sensor fusion method, and obtaining the position information; matching the electronic map data with the position information by adopting an electronic map matching method to obtain electronic map data corresponding to the current position; constructing a traffic flow prediction model based on the position information and a machine learning algorithm, and inputting the position information into the traffic flow prediction model to obtain a traffic condition prediction result; based on the traffic condition prediction result, planning a path from the current position to the destination by adopting a path search algorithm to obtain a preliminary path; performing personalized adjustment on the initial path according to user preference setting to obtain a recommended path; and monitoring the final recommended path by adopting a real-time monitoring and feedback mechanism, evaluating the position change and traffic condition in the path, and obtaining a final path planning strategy.

The invention relates to the field of trajectory tracking, and discloses a gun trajectory tracking system and method fused with multi-source localization, the system comprises a satellite positioning module, an RFID node network, an inertial measurement unit (IMU) and a processing unit, the processing unit determines an open area, a semi-shielded area or a full-shielded area in real time through an environment classification sub-module, based on a dynamic weight distribution strategy, the fusion proportion of the satellite data, the RFID data and the I MU data is adjusted; synthesizing multi-source positioning data by adopting a weighted fusion algorithm, and outputting a real-time gun trajectory; and when the RFID node is located in a full-shielding area, the topological optimization calibration sub-module is combined with the RFID node topological relation to correct the accumulated error of the I MU, and weight distribution is dynamically fed back and adjusted based on the calibration error. According to the method, the problems of track interruption and drifting caused by failure of a single positioning source or inertial navigation accumulative errors in a complex shielding scene are solved, and high-robustness continuous tracking of gun tracks in multiple scenes such as cities, fields and indoors is realized.

The invention belongs to the technical field of satellite positioning, and particularly discloses a high-precision PPP (Point-to-Point Protocol) positioning method based on SSR (Simple Sequence Repeat) correction prediction, which comprises the following steps that: a receiver receives and stores an SSR correction in real time to obtain an SSR sequence; inputting the stored SSR sequence into a pre-trained prediction model, and outputting an SSR correction number prediction value in a future time period; the broadcast ephemeris is corrected through the predicted SSR correction number, and a precise satellite orbit and clock correction are obtained; and constructing an ionosphere-free combination model based on the double-frequency observation value, and resolving the position of the receiver through Kalman filtering in combination with the corrected satellite orbit and clock correction. According to the method, long-time-sequence prediction is carried out on the SSR correction number through the prediction model, the problem of positioning precision jump caused by satellite correction data interruption is effectively solved, it is guaranteed that PPP positioning continuously outputs centimeter-level precision results under the scenes of signal shielding, network delay and the like, and the limitation that traditional PPP strongly depends on real-time SSR data is broken through.

The invention relates to the technical field of satellite navigation and precision positioning, in particular to a Beidou large-area sea area millimeter-level high-precision positioning method. The method comprises the specific implementation steps that marine environment state data and Beidou observation data are collected and preprocessed, and environment influence parameters are extracted; establishing a quantitative model based on the environment state data, the satellite signal propagation data and the antenna phase center data, and obtaining propagation path delay data and antenna phase center change data; processing the observation data and the self-adaptive reference network information based on a Beidou cooperative satellite positioning algorithm to obtain a preliminary positioning result; constructing a satellite signal error model to analyze environmental influence parameters and data, obtaining a positioning error value, and adjusting a preliminary positioning result; and calculating and judging the positioning result, dividing the positioning result into a first type of working condition and a second type of working condition, switching the second type of working condition to an emergency mode, and performing enhanced compensation on the Beidou signal error. According to the invention, the positioning precision, reliability and adaptive capability of the Beidou system in a marine environment are improved.

The invention provides a real-time data processing method and system for Beidou satellite positioning error correction, and relates to the technical field of data processing, and the method comprises the steps: 1, collecting Beidou satellite original observation data of the current position of a mine car in real time, and synchronously obtaining the dynamic environment information of an operation region; 2, according to the signal receiving quality and the dynamic environment information of the original observation data of the Beidou satellite, the Beidou signal dynamic shielding state of the current position is sensed and quantified in real time, and a signal shielding grade evaluation result is obtained; and step 3, according to a signal shielding grade evaluation result, adaptively adjusting an error correction strategy to obtain an adjusted error correction strategy. According to the invention, targeted accurate error compensation is realized, and the precision and stability of positioning data are improved.

The invention provides a road inspection target positioning method based on multi-source data fusion, and relates to the field of road daily inspection and infrastructure performance monitoring, and the method comprises the following steps: obtaining multi-source data based on a preset multi-source sensor; through deep coupling of satellite positioning carrier double-difference observation and inertial navigation solution of an inertial sensor, error correction is carried out in combination with Kalman filtering recursion, and fusion navigation data is determined; according to the fused navigation data, carrying out fusion processing on the two-dimensional visual observation data and the three-dimensional space point cloud data to obtain a forward view depth map; determining the national geodetic coordinates of the disease by combining a depth value back calculation method and utilizing a forward view depth map; and obtaining a starting kilometer pile number in a road inspection process, and determining a mileage pile number of the disease by combining the national geodetic coordinate of the disease and utilizing a Gaussian positive algorithm. According to the invention, centimeter-level geographic coordinate positions of diseases and corresponding mileage stake numbers can be output.

A method for reduced-outlier satellite positioning includes receiving a set of satellite positioning observations at a receiver; generating a first receiver position estimate; generating a set of posterior observation residual values from the set of satellite positioning observations and the first receiver position estimate; based on the set of posterior observation residual values, identifying a subset of the satellite positioning observations as statistical outliers; and after mitigating an effect of the statistical outliers, generating a second receiver position estimate having higher accuracy than the first receiver position estimate.

The invention specifically discloses a particle swarm indoor pseudo satellite base station layout optimization method based on a minimum GDOP configuration, and relates to the technical field of indoor positioning. The method comprises the following steps: S1, determining a scene and the number of base stations, setting a population scale, and initializing a population based on a minimum geometric accuracy factor GDOP; s2, collecting the number of visible satellites and horizontal precision factor data, calculating an objective function value, and storing a non-dominated solution and determining an initial optimal position of a particle swarm according to a Pareto dominating relationship; s3, adopting a segmented adaptive linear decline strategy to update the inertia weight, and updating the particle speed and position; s4, recalculating a particle objective function value, updating the optimal positions of the individuals and the group, and updating an external file; s5, checking whether a termination condition is met or not, and if not, continuing iteration; and S6, outputting a finally obtained non-dominated solution set. According to the method, the performance of the indoor pseudo satellite positioning system is effectively improved, and a new way is provided for base station layout optimization.