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Smoothing filtering method for asychronous input data

A technology for inputting data and smoothing filtering, which is applied in the field of navigation and positioning information and can solve problems such as positioning solution errors.

Inactive Publication Date: 2006-05-24
SOUTHEAST UNIV
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Problems solved by technology

The main reason for the error is that the original observation value is a nonlinear mapping of the dynamic motion characteristics of the observed object, and the difference operation of the observation value is generally linear. This inconsistency will inevitably lead to the existence of linear interpolation by the direct observation value The error will cause a large error in the final positioning solution

Method used

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  • Smoothing filtering method for asychronous input data
  • Smoothing filtering method for asychronous input data

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Embodiment approach

[0065] 1) Determine the observation epoch time. Since the data frame length transmitted by terrestrial digital TV broadcasting is isochronous, and its transmission time can be estimated or directly determined, the time interval of transmitting each frame can be taken as the time unit of system observation, and all observation times are expressed in It is the basic unit that constitutes the observation epoch sequence. In this way, the receiver can be pre-arranged to take the data frame interval or its multiple as the observation interval, and output the combined navigation solution.

[0066] 2) Obtain basic navigation and positioning information. The navigation system first obtains the basic navigation and positioning information in each observation epoch. This information can be obtained through the positioning system itself or other navigation equipment such as GPS receivers. The navigation solution or initial navigation data is extrapolated to the observation time point as...

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Abstract

Being so called method of Sequential Dual Filter Approach to Smoothing (SDF), the disclosed method is in use for carrying out calculation of smoothed filter for multiple measuring data input in asynchronism in order to obtain optimal estimation for system state. The method is widely applicable to situation: in navigational fixing system, using confluence of observation data obtained from multiple sensors obtains navigational fixing information such as space position, speed and acceleration of object to be measured. Analyzing asynchronous characteristic of input data of system, the invention gives out formula of recursion computation for system to carry out sequential dual filter to obtain optimal estimated value. Especially, the invention describes operation step for executing SDF calculation to obtain navigational positioning solution of the fixing system based on digital videocast signal.

Description

technical field [0001] The present invention can be widely used in navigation and positioning systems where the navigation and positioning information such as the spatial position, velocity and acceleration of the measured object is obtained by fusing observation data of multiple sensors, and belongs to the technical field of information and signal processing. Background technique [0002] Obtaining system status information through data fusion of multiple sensors is a widely used technical means. The integrated navigation system uses this technology to fuse various observation data to determine the system navigation information; the most widely used is the integrated navigation system based on the two positioning subsystems of the inertial measurement unit (IMU) and the global positioning system (GPS). . The working mode is generally divided into two forms: 1. Indirect method: the two positioning subsystems calculate their respective positioning solutions with their respec...

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Application Information

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IPC IPC(8): G01C21/00G01C21/20
Inventor 何峰吴乐南
Owner SOUTHEAST UNIV
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