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Multi-system fusing and positioning method and device

A technology integrating positioning and positioning systems, applied in the field of positioning, can solve the problems of large positioning result error, reduced Kalman filtering effect, inability to obtain noise prior information, etc., to achieve the effect of improving accuracy and avoiding low filtering efficiency.

Active Publication Date: 2014-07-23
BEIJING UNIV OF POSTS & TELECOMM
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  • Claims
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AI Technical Summary

Problems solved by technology

[0005] Since the receiver is often in motion during the positioning process, the positioning signal is easily affected by factors such as occlusion and multipath emission during the motion process, resulting in violent fluctuations in the measurement noise, so that accurate prior information of the noise cannot be obtained, leading to Kalman The effect of filtering is reduced, and the purpose of improving positioning accuracy cannot be guaranteed in the end; in addition, if a certain positioning system has a large error, it will cause a large error in the positioning result

Method used

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  • Multi-system fusing and positioning method and device

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Embodiment 1

[0039] An embodiment of the present invention provides a method for fusion positioning of multiple positioning systems, see figure 1 , the method flow includes:

[0040] 101: In each positioning system, select a pseudo-range between a satellite and the receiver as a reference pseudo-range, and calculate the position by difference between the reference pseudo-range and the pseudo-ranges between other satellites and the receiver Solve the calculation to obtain the position of the receiver at the current positioning of each positioning system;

[0041] 102: According to the evaluation parameters of each satellite in each positioning system during the current positioning, evaluate each of the positioning systems during the current positioning, and obtain the current positioning of each of the positioning systems. Weights;

[0042] 103: Determine the position of the receiver after multi-positioning system fusion positioning according to the position of the receiver during the cur...

Embodiment 2

[0045] An embodiment of the present invention provides a method for fusion positioning of multiple positioning systems, see figure 2 , the method flow includes:

[0046] 201: In each positioning system, select a pseudo-range between a satellite and the receiver as a reference pseudo-range, and calculate the position by difference between the reference pseudo-range and the pseudo-ranges between other satellites and the receiver Solve and calculate to obtain the position of the receiver at the current positioning of each positioning system.

[0047] The formula for calculating the pseudo-range between each satellite and the receiver in any positioning system is as follows:

[0048] ρ i = ( x i - x u ) 2 + ...

Embodiment 3

[0113] An embodiment of the present invention provides a multi-positioning system fusion positioning device, see image 3 , the device consists of:

[0114] The position calculation module 301 is used to select a pseudorange between a satellite and the receiver as a reference pseudorange in each positioning system, and pass the reference pseudorange and the pseudoranges between other satellites and the receiver through Performing position calculation in a differential manner to obtain the position of the receiver at the current positioning of each positioning system;

[0115] The evaluation module 302 is configured to evaluate each positioning system during the current positioning according to the evaluation parameters of each satellite in the positioning system during the current positioning, and obtain the current positioning of each positioning system. The weight value of the second positioning;

[0116] The position determination module 303 is configured to determine the...

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Abstract

The invention discloses a multi-system fusing and positioning method and device, and belongs to the technical field of positioning. The method comprises the steps that the pseudo range between a satellite selected from each positioning system and a receiver serves as a reference pseudo range, the deduction is carried out on the reference pseudo range and the pseudo ranges between the other satellites and the receiver to carry out position resolving, and then the position of the receiver is obtained when each positioning system carries out positioning this time; the weighted value of each positioning system in the positioning process this time is obtained according to the evaluation parameters of all satellites in each positioning system in the positioning process this time; the position of the receiver after the multi-positioning system fusing and positioning is determined according to the position and the weighted value of the receiver when each positioning system carries out positioning this time. According to the multi-system fusing and positioning method and device, low filtering efficiency caused by incorrect prior information in a kalman filter is avoided; the positioning errors of all positioning systems are restrained through the evaluation on all the positioning systems and the evaluated weighted values, and positioning precision is improved.

Description

technical field [0001] The invention relates to the field of positioning technology, in particular to a method and device for multi-system fusion positioning. Background technique [0002] With the development of positioning technology, when the receiver receives positioning signals from multiple positioning systems, more accurate positioning results can be obtained through multi-system joint calculation. The current method of multi-system fusion positioning is as follows: firstly, the equations of the calculation formulas for the pseudo-range between each satellite and the receiver in each positioning system are connected, and the calculation formula of each positioning system at the time of this positioning is calculated by solving the equations. The position of the receiver, where, due to the existence of error factors such as clock asynchrony, the calculation formula of the pseudo-range between each satellite and the receiver will carry the error parameters corresponding...

Claims

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Application Information

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IPC IPC(8): G01S19/42
CPCG01S19/42
Inventor 邓中亮尹露董慧席岳李杰强李长明
Owner BEIJING UNIV OF POSTS & TELECOMM
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