Object Location Method Based on Constraint Information
A technology for target positioning and constraining information, applied in satellite radio beacon positioning systems, measuring devices, instruments, etc., can solve problems such as low estimation accuracy, limited application range, and positioning accuracy to be improved
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[0059] The present invention is described in detail below in conjunction with accompanying drawing:
[0060] Such as figure 1 As shown, the present invention provides a target positioning method based on constraint information for real-time tracking and positioning of maneuvering targets, including the following steps:
[0061] S1: Constraint model modeling, respectively establish state value x k , measured value z k and the mathematical expression of the constraint equation; specifically, the state value x k and measured value z k Satisfy the mathematical expressions (1) and (2) respectively:
[0062] x k =A k x k-1 +Γ k u k-1 +w k-1 (1)
[0063] z k =H k x k +v k (2)
[0064] Constraint equation: D k x k = d k (3)
[0065] Among them, k is the sampling time value; the state value Contains four state elements; u k-1 is a known input; the process noise w k and v k is Gaussian white noise with zero mean; w k and v k The covariance of U k and R k ...
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