Highly reliable positioning prediction method and system based on virtual landmarks

Abstract

The invention relates to the technical field of satellite positioning, and discloses a highly reliable positioning prediction method and system based on virtual landmarks. The method includes the steps that surface feature elements in an electronic map are extracted, arranged and modeled to form the virtual electronic landmarks with accurate coordinates; external perception conditions are used as positioning accuracy impact factors, and according to the weight of influence on positioning accuracy of the factors, a highly reliable positioning prediction model is built; according to current navigation information, the nearby virtual electronic landmarks are searched for in the electronic map, and the virtual electronic landmarks are substituted into the prediction model to deduce the change situation of the external environment at a next moment; when the next moment comes, external perception information is collected, the external perception information is compared with the deduced change situation, comparison differences are substituted into the prediction model again, backward induction is performed to determine errors of the navigation information, and accordingly follow-up navigation information is corrected. By the utilization of the virtual landmarks, the highly reliable positioning prediction method and system achieve map matching feedback and assistant positioning and solve the problem that a highly reliable positioning prediction method and system cannot be used in a wide-range area or complex terrain environment.

Description

technical field [0001] The invention relates to the technical field of satellite positioning, in particular to a highly reliable positioning prediction method and system based on virtual landmarks. Background technique [0002] Since the National Navigation Satellite System (GNSS) uses radio navigation, there are many factors that may affect the ability of the navigation satellite receiver to capture and track satellite signals, and some even cause loss of satellite signals in a short period of time, seriously affecting normal navigation. In order to ensure that GNSS still has high accuracy and reliability in specific areas and under specific conditions, the method of establishing fixed landmark reference stations is currently adopted, and the landmark reference stations transmit signals containing pseudorange and carrier phase observations similar to GNSS , GNSS receiving equipment uses these signals and received satellite signals to enhance positioning accuracy. [0003] ...

AI Technical Summary

Problems solved by technology

[0004] However, the methods in the prior art must rely on fixed landmarks in real objects, and need to bury signal transmitters in a specific area in advance. This method is complex and expensive, and cannot adapt to navigation, positioning and position prediction of moving objects in large-scale areas or complex terrain environments.

In addition, the accuracy of the physical landmark method still depends on the signal reception status and the accuracy of the location of the landmark on the map, which leads to the existence of real-time positioning data errors, electronic map errors, coordinate projection transformation errors, etc. Error, which also makes the vehicle often deviate from the road when displayed on the electronic map, and cannot get accurate location information

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