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A method and device for multi-system fusion positioning

A technology integrating positioning and positioning systems, applied in the field of positioning, can solve the problems of reduced Kalman filtering effect, large positioning result error, and inability to guarantee positioning accuracy, so as to avoid low filtering efficiency and improve accuracy.

Active Publication Date: 2016-10-05
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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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  • A method and device for multi-system fusion positioning

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Embodiment 1

[0039] The 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 pseudorange between a satellite and a receiver as a reference pseudorange, and perform a position difference between the reference pseudorange and the pseudoranges between the other satellites and the receiver. Resolve to obtain the position of the receiver of each positioning system during this positioning;

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

[0042] 103: Determine the position of the receiver after fusion positioning of multiple positioning systems according to the position of the receiver of each positioning system during the current positioni...

Embodiment 2

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

[0046] 201: Select the pseudorange between a satellite and the receiver in each positioning system as the reference pseudorange, and perform a position difference between the reference pseudorange and the pseudoranges between the other satellites and the receiver. Solve to obtain the position of the receiver of each positioning system during the current positioning.

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

[0048] ρ i = ( x i - x u ) 2 + ( y i - y u ) 2 + ( z i - z u ) 2 + c X k = 1 N ( λ i , sysk δ t u - sysk )

[0049] Where ρ i Is the pseudorange between the i-th satellite and the receiver...

Embodiment 3

[0113] The embodiment of the present invention provides a device for fusion positioning of multiple positioning systems, see image 3 , The device includes:

[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 the other satellites and the receiver Perform position calculation in a differential manner to obtain the position of the receiver of each positioning system during the current positioning;

[0115] The evaluation module 302 is used to evaluate the current positioning of each positioning system according to the evaluation parameters of each satellite in each 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 determining module 303 is configured to determine the position of ...

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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 present invention relates to the technical field of positioning, 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 the positioning signals of multiple positioning systems, it can obtain more accurate positioning results through multi-system joint solution. The current method of multi-system fusion positioning is as follows: First, connect the equations of the pseudorange calculation formulas between the satellites and receivers in each positioning system, and use the equations to calculate the current positioning of each positioning system. The position of the receiver, where, due to error factors such as clock unsynchronization, the calculation formula of the pseudorange between each satellite and the receiver will carry the error parameter corresponding to the error factor, and a more accurate pseudorange has been determined...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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