CN102928860B - Method for improving GPS (Global Positioning System) positioning precision on the basis of local positioning information - Google Patents

Abstract

The invention discloses a method for improving GPS (Global Positioning System) positioning precision on the basis of local positioning information. The method comprises the following steps of: A, obtaining local positioning information; B, obtaining global coordinate information through a GPS unit; C, transforming local coordinates into global coordinates; and D, matching the global coordinates to the corresponding transformed local coordinates to complete the correction of the global coordinates. Compared with the traditional GPS reinforcement system, the invention has the advantages that infrastructures such as a mobile phone base station in a fixed reference point with an accurate position are not needed to be known, and special devices such as a communication network are not needed for sharing data, by means of a mobile phone inertial navigation technology or local positioning information provided by a self-organizing network, through a series of coordinate transformation, the GPS positioning precision is improved, configuration and application are easily realized, and the method can be popularized to wider applications such as indoor positioning.

Description

The method of GPS positioning precision is improved based on local positioning information

Technical field

The present invention relates to field of locating technology, particularly relate to a kind of method improving GPS positioning precision based on local positioning information.

Background technology

Since coming into operation from 1964, GPS (Global Positioning System, GPS) play very important effect in all trades and professions such as space flight navigation, road traffic, commercial production, precision agricultures, even once facilitate the technological change of various fields.Since entering 21 century, along with integrated in smart mobile phone of the universal of smart mobile phone and GPS locating module, GPS starts to come into huge numbers of families, changes working method and the habits and customs of countless smart phone user.Location Based service, register in the position of such as social networks, based on the advertisement in geographic position or information pushing, social networks etc. based on geographic position, quietly penetrate in the daily life of many common citizens.And GPS is as positioning system covering the whole world, be then one of its pusher the strongest behind.In the past few years, GPS, with the high availability of its Global coverage and high reliability etc., achieves the favor of global thousands of user gradually.But owing to being subject to the impact of many-sided condition such as shielding of number of satellite and position, atmospheric conditions, natural objects, there is larger positioning error in original GPS, cannot meet the application under some special scenes.Although in the data that official announces, during use high-quality receiver, GPS positioning precision can reach about 3 meters, but in common application, when especially with mobile phone being locating terminal, user's reality precision that can obtain then often can fluctuate between 1 meter to 20 meters, and concrete error depends on environment residing for it and receiving end module thereof etc.Particularly evident, although average error is not very large, can meet most application demand, the single positioning error of GPS is still larger.

In order to solve the problem, GPS strengthens system as auxiliary global satellite positioning system (Assisted Global Positioning System, and differential Global Positioning System (Difference Global Positioning System AGPS), etc. DGPS) be in succession suggested, consuming time etc. in order to strengthen the precision of GPS, coverage rate, location.AGPS provides positioning service faster for GPS terminal, by the reference point (as the cellular base station etc. be accurately positioned) of known accurate location, provides rapidly by the initial position of localizing objects.DGPS uses the reference point of known location equally, but with AGPS unlike, DGPS contrasts the difference between the accurate location of these reference point and its GPS location, and this species diversity is connected by specific network and be broadcast to by localizing objects.And this utilizes such difference to eliminate GPS deviation by localizing objects.In this way, the most high energy of DGPS reaches other positioning precision of centimetre-sized.

But, traditional GPS enhancing system comprises DGPS, AGPS etc. all needs the reference point of the special network architecture or known accurate location as the cellular base station etc. that accurately located, often need special organizational structure's maintenance operation, and only can use in some areas, the world, be difficult to realize can using whenever and wherever possible.Along with the innovation of wireless communication technology, wireless self-organization network and smart mobile phone are obtained for unprecedented development.Wireless self-organization network, as radio sensing network, vehicle network etc., is deployed in the regions such as field, forest, city usually to realize the monitoring to physical environment etc.Owing to will obtain the relevant information in locality, positional information seems particularly important in the application of these wireless networks.In the past few years, the location technology of wireless network is also extensively studied, a large amount of wireless network location as based on range finding location, be successively suggested based on non-ranging location etc.Compared to GPS, the location technology of wireless network often can provide high-precision relative positioning information, and namely rice even centimetre rank can be accomplished in location, but can only reflect the relative position relation between wireless network node, does not possess global coordinates meaning.On the other hand, because sensor such as acceleration transducer, gyroscope, the compass etc. of more and more feature richness are integrated in smart mobile phone, the inertial navigation technology based on smart mobile phone is also furtherd investigate and penetration and promotion.Inertial navigation technology, by catching the action behavior of smart phone user, calculates its displacement and direction, thus calculates the position coordinates in its moving process, also provide the relative positioning information of degree of precision equally, but do not possess global coordinates meaning.

Summary of the invention

For above-mentioned technical matters, the object of the present invention is to provide a kind of method improving GPS positioning precision based on local positioning information, its local positioning information utilizing mobile phone inertial navigation technology or self-organizing network to provide, revises larger GPS deviations, improves GPS positioning precision.

For reaching this object, the present invention by the following technical solutions:

Improve a method for GPS positioning precision based on local positioning information, comprise the steps:

A, acquisition local positioning information, wherein, comprise the local positioning information L={w of n node ₁, w ₂, w ₃..., w _n, local coordinate w _j=(u _j, v _j), n is positive integer, and j is the integer between 1 to n;

B, obtain world coordinates information by GPS unit, wherein, comprise the world coordinates information G={z of n node ₁, z ₂, z ₃..., z _n, world coordinates and global position coordinates z _j=(x _j, y _j) with steps A in w _jcorresponding, n is positive integer, and j is the integer between 1 to n;

C, the described local coordinate in steps A is converted to world coordinates;

D, the described world coordinates in step B to be matched in the local coordinate after conversion corresponding with it in step C, complete the correction to world coordinates.

Especially, in described steps A, local positioning information is obtained by mobile phone inertial navigation technology or wireless self-organization network.

Especially, described step B also comprises: be two-dimensional direct angular coordinate by described global coordinate transform.

Especially, in described step B, the gps receiver of GPS unit supports Universal Trans Meridian graticule mesh system (Universal Transverse Mercartor System, UTM) coordinate.

Especially, described step C specifically comprises:

Translation, convergent-divergent are carried out to the described local coordinate in steps A and rotates process, be converted to world coordinates, and the quadratic sum of residual error between world coordinates after the described world coordinates information G local coordinate corresponding with local positioning information L is changed is minimum; Wherein, the conversion of local positioning information L to world coordinates information G can be expressed as the local coordinate that world coordinates information G is corresponding with local positioning information L change after world coordinates between residual error be || e _j||, the quadratic sum of residual error represent after being transformed into global coordinate system t ₀represent translational component, s represents convergent-divergent multiple, expression rotates through

Especially, in described step C, translation, convergent-divergent carried out to the described local coordinate in steps A and rotate process, being converted to world coordinates, specifically comprising:

C1, employing plural number substitute bivector and represent a two-dimensional coordinate, even w _j=u _j+ iv _j, z _j=x _j+ iy _j; Be the coordinate relative to its barycenter separately by all point transformation in local positioning information L and world coordinates information G, namely $w_j^{\stackrel{\‾}{l}}=w_j^l-{\stackrel{\‾}{w}}_j^l,$ $z_j^{\stackrel{\‾}{g}}=z_j^g-{\stackrel{\‾}{z}}_j^g,$ Wherein ${\stackrel{\‾}{w}}_j^l=\frac{1}{n}\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{w}_j^n,$ ${\stackrel{\‾}{z}}_j^g=\frac{1}{n}\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{z}_j^n$ Represent the barycenter of local positioning information L and world coordinates information G respectively;

C2, calculating translational component t ₀;

Residual error between world coordinates after the local coordinate that world coordinates information G is corresponding with local positioning information L being changed is for being expressed as: a little between the quadratic sum of residual error be expressed as:

$\underset{j=1}{\overset{n}{\mathrm{\Σ}}}\left|\right|z_j^{\stackrel{\‾}{g}}-\mathrm{sR}\left({\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\right)+{\stackrel{\‾}{t}}_0{\left|\right|}^2$

$=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{\left|\right|S\left|\right|}^2+2{\stackrel{\‾}{t}}_0\·\underset{j=1}{\overset{n}{\mathrm{\Σ}}}S+n{\left|\right|{\stackrel{\‾}{t}}_0\left|\right|}^2$

Wherein, ${\stackrel{\‾}{t}}_0=t_0-{\stackrel{\‾}{z}}_j^g+\mathrm{sR}\left({\stackrel{\‾}{w}}_j^l\right),$ $S=z_j^{\stackrel{\‾}{g}}-\mathrm{sR}\left(w_j^{\stackrel{\‾}{l}}\right),$ $\underset{j=1}{\overset{n}{\mathrm{\Σ}}}S=0;$

Order the quadratic sum of residual error obtains minimum value, by calculate the i.e. translational component t of optimum solution ₀for the distance between local positioning information L and the barycenter of world coordinates information G;

C3, the translational component t of optimum solution calculated according to step C2 ₀, calculate the convergent-divergent multiple s of optimum solution;

The quadratic sum of residual error is repeated into: be launched into the perfect square form of s, obtained: $\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|}^2{[s-F]}^2+\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{\left|\right|z_j^{\stackrel{\‾}{g}}\left|\right|}^2-\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|}^2{F}^2,$ Wherein, $F=\frac{{\mathrm{\Σ}}_{j=1}^n{z}_j^{\stackrel{\‾}{g}}\·R\left({\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\right)}{{\mathrm{\Σ}}_{j=1}^n{\left|\right|{\mathrm{\ω}}_j^{\stackrel{-}{l}}\left|\right|}^2},$ And ${\left|\right|R\left({\mathrm{\ω}}_j^{\stackrel{-}{l}}\right)\left|\right|}^2={\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|}^2;$ When the quadratic sum of residual error obtains minimum value, obtain the convergent-divergent multiple s=F of optimum solution.

C4, solve the rotation parameter R of optimum solution;

When local coordinate and world coordinates coplanar time, there is angle α between world coordinates information G and local positioning information L corresponding point _j, namely have $z_j^{\stackrel{\‾}{g}}\·{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}=\left|\right|z_j^{\stackrel{\‾}{g}}\left|\right|\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|\cos {\mathrm{\α}}_j;$

After local rotation of coordinate crosses θ angle, the angle α between 2 _jalso will reduce θ thereupon; The quadratic sum of residual error is expressed as: $\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{\left|\right|z_j^{\stackrel{\‾}{g}}\left|\right|}^2+\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|}^2-2\underset{j=1}{\overset{n}{\mathrm{\Σ}}}\left|\right|z_j^{\stackrel{\‾}{g}}\left|\right|\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|\cos ({\mathrm{\α}}_j-\mathrm{\θ}),$ Calculate maximal value, namely calculates the maximal value of Acos θ+Bsin θ, obtains the rotation parameter R of optimum solution; Wherein, $A=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}\left|\right|z_j^{\stackrel{\‾}{g}}\left|\right|\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|\cos {\mathrm{\α}}_j,$ $B=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}\left|\right|z_j^{\stackrel{\‾}{g}}\left|\right|\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|\sin {\mathrm{\α}}_j;$

C5, according to the translational component t of described optimum solution obtained ₀, convergent-divergent multiple s, rotation parameter R, obtain the transformation for mula of local positioning information L to world coordinates information G and utilize this transformation for mula the local coordinate in local coordinate system to be converted to world coordinates in global coordinate system.

Especially, described step D specifically comprises:

The local coordinate that local positioning information L is transformed in global coordinate system is denoted as order j={1,2 ... n}, matches the world coordinates in world coordinates information G in the local coordinate after the conversion corresponding with it, completes the correction to world coordinates.

Compared with strengthening system with traditional GPS, the present invention does not need the permanent datum of known accurate location as infrastructure such as cellular base station, the shared data such as special equipment such as communication network are not needed yet, utilize the local positioning information that mobile phone inertial navigation technology or self-organizing network provide, GPS positioning precision is improved by a series of coordinate transform, and be easy to application deployment, can be generalized in the more wide application such as indoor positioning.

Accompanying drawing explanation

The method flow diagram improving GPS positioning precision based on local positioning information that Fig. 1 provides for the embodiment of the present invention;

The translation schematic diagram of the coordinate system transformation that Fig. 2 provides for the embodiment of the present invention;

The convergent-divergent schematic diagram of the coordinate system transformation that Fig. 3 provides for the embodiment of the present invention;

The rotation schematic diagram of the coordinate system transformation that Fig. 4 provides for the embodiment of the present invention.

The schematic diagram of the local coordinate correction world coordinates after the utilization conversion that Fig. 5 provides for the embodiment of the present invention.

Embodiment

For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with drawings and Examples, the invention will be further described.

Please refer to shown in Fig. 1, the method flow diagram improving GPS positioning precision based on local positioning information that Fig. 1 provides for the embodiment of the present invention.

Comprise the steps: based on the method for local positioning information raising GPS positioning precision in the present embodiment

Step S101, acquisition local positioning information, wherein, comprise the local positioning information L={w of n node ₁, w ₂, w ₃..., w _n, local coordinate w _j=(u _j, v _j), n is positive integer, and j is the integer between 1 to n.

Local positioning information can be measured by mobile phone inertial navigation technology, also can by wireless self-organization network as the means such as wireless sense network, vehicle network, WLAN obtain.That local positioning information provides local, relative positioning result, does not possess global sense.

Step S102, obtain world coordinates information by GPS unit, wherein, comprise the world coordinates information G={z of n node ₁, z ₂, z ₃..., z _n, world coordinates and global position coordinates z _j=(x _j, y _j) with step S101 in w _jcorresponding, n is positive integer, and j is the integer between 1 to n.

For the vehicle network be made up of n node, each node obtains inaccurate world coordinates and global position coordinates by the GPS unit carried, the world coordinates set of all nodes and world coordinates information G={z ₁, z ₂, z ₃..., z _n, world coordinates and global position coordinates z _j=(x _j, y _j) with step S101 in w _jcorresponding, namely each node records a world coordinates and a local coordinate simultaneously.

GPS unit what provide world coordinates is coordinate relative to earth sphere, i.e. longitude and latitude.Due to the present invention it is considered that two dimensional surface space, therefore also needing global coordinate transform is two-dimensional direct angular coordinate.But, in the present embodiment, the gps receiver of GPS unit supports Universal Trans Meridian graticule mesh system (Universal Transverse Mercartor System, UTM) coordinate, and UTM coordinate has provided a kind of planimetric rectangular coordinates, without the need to changing again, can directly apply.

Step S103, the described local coordinate in step S101 is converted to world coordinates.

Translation, convergent-divergent are carried out to the described local coordinate in step S101 and rotates process, be converted to world coordinates, and the quadratic sum of residual error between world coordinates after the described world coordinates information G local coordinate corresponding with local positioning information L is changed is minimum; Wherein, the conversion of local positioning information L to world coordinates information G can be expressed as the local coordinate that world coordinates information G is corresponding with local positioning information L change after world coordinates between residual error be || e _j||, the quadratic sum of residual error represent after being transformed into global coordinate system t ₀represent translational component, s represents convergent-divergent multiple, expression rotates through the detailed process of coordinate transform is as follows:

Step S1031, employing plural number substitute bivector and represent a two-dimensional coordinate, even w _j=u _j+ iv _j, z _j=x _j+ iy _j; Be the coordinate relative to its barycenter separately by all point transformation in local positioning information L and world coordinates information G, namely $w_j^{\stackrel{\‾}{l}}=w_j^l-{\stackrel{\‾}{w}}_j^l,$ $z_j^{\stackrel{\‾}{g}}=z_j^g-{\stackrel{\‾}{z}}_j^g,$ Wherein ${\stackrel{\‾}{w}}_j^l=\frac{1}{n}\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{w}_j^n,$ represent the barycenter of local positioning information L and world coordinates information G respectively.By coordinate convenient rotation representing two dimensional surface after above-mentioned process.Wherein, the barycenter of local positioning information L is called for short local coordinate barycenter, is also the barycenter of local coordinate system; The barycenter of world coordinates information G is called for short world coordinates barycenter, is also the barycenter of global coordinate system.

Step S1032, calculating translational component t ₀;

Residual error between world coordinates after the local coordinate that world coordinates information G is corresponding with local positioning information L being changed is for being expressed as: a little between the quadratic sum of residual error be expressed as:

$\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{\left|\right|z_j^{\stackrel{\‾}{g}}-\mathrm{sR}\left({\mathrm{\ω}}_j^{\stackrel{-}{l}}\right)+{\stackrel{\‾}{t}}_0\left|\right|}^2$

$=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{\left|\right|S\left|\right|}^2+2{\stackrel{\‾}{t}}_0\·\underset{j=1}{\overset{n}{\mathrm{\Σ}}}S+n{\left|\right|{\stackrel{\‾}{t}}_0\left|\right|}^2$

Wherein, ${\stackrel{\‾}{t}}_0=t_0-{\stackrel{\‾}{z}}_j^g+\mathrm{sR}\left({\stackrel{\‾}{w}}_j^l\right),$ $S=z_j^{\stackrel{\‾}{g}}-\mathrm{sR}\left(w_j^{\stackrel{\‾}{l}}\right),$ $\underset{j=1}{\overset{n}{\mathrm{\Σ}}}S=0;$

Order the quadratic sum of residual error obtains minimum value, by calculate the i.e. translational component t of optimum solution ₀for the distance between local positioning information L and the barycenter of world coordinates information G.As shown in Figure 2, the translation schematic diagram of coordinate system transformation that provides for the embodiment of the present invention of Fig. 2.In figure, 201 is local coordinate, and 202 is world coordinates, and 203 is local coordinate barycenter, and 204 is world coordinates barycenter.

Step S1033, the translational component t of optimum solution calculated according to step S1032 ₀, calculate the convergent-divergent multiple s of optimum solution;

The quadratic sum of residual error is repeated into: be launched into the perfect square form of s, obtained: $\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|}^2{[s-F]}^2+\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{\left|\right|z_j^{\stackrel{\‾}{g}}\left|\right|}^2-\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|}^2{F}^2,$ Wherein, $F=\frac{{\mathrm{\Σ}}_{j=1}^n{z}_j^{\stackrel{\‾}{g}}\·R\left({\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\right)}{{\mathrm{\Σ}}_{j=1}^n{\left|\right|{\mathrm{\ω}}_j^{\stackrel{-}{l}}\left|\right|}^2},$ And ${\left|\right|R\left({\mathrm{\ω}}_j^{\stackrel{-}{l}}\right)\left|\right|}^2={\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|}^2;$

When the quadratic sum of residual error obtains minimum value, obtain the convergent-divergent multiple s=F of optimum solution.As shown in Figure 3, the convergent-divergent schematic diagram of coordinate system transformation that provides for the embodiment of the present invention of Fig. 3.In figure, 301 is the local coordinate after convergent-divergent s times.

Step S1034, solve the rotation parameter R of optimum solution;

When local coordinate and world coordinates coplanar time, there is angle α between world coordinates information G and local positioning information L corresponding point _j, namely have $z_j^{\stackrel{\‾}{g}}\·{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}=\left|\right|z_j^{\stackrel{\‾}{g}}\left|\right|\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|\cos {\mathrm{\α}}_j;$

After local rotation of coordinate crosses θ angle, the angle α between 2 _jalso will reduce θ thereupon; The quadratic sum of residual error is expressed as: $\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{\left|\right|z_j^{\stackrel{\‾}{g}}\left|\right|}^2+\underset{j=1}{\overset{n}{\mathrm{\Σ}}}{\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|}^2-2\underset{j=1}{\overset{n}{\mathrm{\Σ}}}\left|\right|z_j^{\stackrel{\‾}{g}}\left|\right|\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|\cos ({\mathrm{\α}}_j-\mathrm{\θ}),$ Calculate maximal value, namely calculates the maximal value of Acos θ+Bsin θ, obtains the rotation parameter R of optimum solution; Wherein, $A=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}\left|\right|z_j^{\stackrel{\‾}{g}}\left|\right|\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|\cos {\mathrm{\α}}_j,$ $B=\underset{j=1}{\overset{n}{\mathrm{\Σ}}}\left|\right|z_j^{\stackrel{\‾}{g}}\left|\right|\left|\right|{\mathrm{\ω}}_j^{\stackrel{\‾}{l}}\left|\right|\sin {\mathrm{\α}}_j.$

Two extreme points that can obtain Acos θ+Bsin θ to Acos θ+Bsin θ differentiate obtain when Asin θ=Bcos θ, now obviously, one of them value maximizes Acos θ+Bsin θ, and another minimizes Acos θ+Bsin θ.As shown in Figure 4, the rotation schematic diagram of coordinate system transformation that provides for the embodiment of the present invention of Fig. 4.The angle existed between α world coordinates information G and local positioning information L corresponding point in figure, the angle that θ local coordinate rotates through.

Step S1035, according to the translational component t of described optimum solution obtained ₀, convergent-divergent multiple s, rotation parameter R, obtain the transformation for mula of local positioning information L to world coordinates information G and utilize this transformation for mula the local coordinate in local coordinate system to be converted to world coordinates in global coordinate system.

Step S104, the described world coordinates in step S102 to be matched in the local coordinate after conversion corresponding with it in step S103, complete the correction to world coordinates.

As shown in Figure 5, the schematic diagram of the local coordinate correction world coordinates after the utilization conversion that provides for the embodiment of the present invention of Fig. 5.In figure, 501 is the local coordinate after translation, convergent-divergent and rotation process conversion.

The local coordinate that local positioning information L is transformed in global coordinate system is denoted as order j={1,2 ... n}, matches the world coordinates in world coordinates information G in the local coordinate after the conversion corresponding with it, completes the correction to world coordinates.

The local positioning information that the present invention utilizes mobile phone inertial navigation technology or self-organizing network to provide, revises larger GPS deviations, improves GPS positioning precision.

Above are only preferred embodiment of the present invention and institute's application technology principle, be anyly familiar with those skilled in the art in the technical scope that the present invention discloses, the change that can expect easily or replacement, all should be encompassed in protection scope of the present invention.

Claims (5)

1. improve a method for GPS positioning precision based on local positioning information, it is characterized in that, comprise the steps:

A, acquisition local positioning information, wherein, comprise the local positioning information L={w of n node ₁, w ₂, w ₃..., w _n, local coordinate w _j=(u _j, v _j), n is positive integer, and j is the integer between 1 to n;

B, obtain world coordinates information by GPS unit, wherein, comprise the world coordinates information G={z of n node ₁, z ₂, z ₃..., z _n, world coordinates and global position coordinates z _j=(x _j, y _j) with steps A in w _jcorresponding, n is positive integer, and j is the integer between 1 to n;

C, by coordinate translation, convergent-divergent and/or rotation process, the described local coordinate in steps A is converted to world coordinates;

D, the described world coordinates in step B to be matched in the local coordinate after conversion corresponding with it in step C, completes the correction to world coordinates,

Wherein, described step C specifically comprises:

C1, employing plural number substitute bivector and represent a two-dimensional coordinate, even w _j=u _j+ iv _j, z _j=x _j+ iy _j; Be the coordinate relative to its barycenter separately by all point transformation in local positioning information L and world coordinates information G, namely wherein represent the barycenter of local positioning information L and world coordinates information G respectively;

C2, calculating translational component t ₀;

Residual error between world coordinates after the local coordinate that world coordinates information G is corresponding with local positioning information L being changed is for being expressed as: a little between the quadratic sum of residual error be expressed as:

Wherein,

Order the quadratic sum of residual error obtains minimum value, by calculate the i.e. translational component t of optimum solution ₀for the distance between local positioning information L and the barycenter of world coordinates information G;

C3, the translational component t of optimum solution calculated according to step C2 ₀, calculate the convergent-divergent multiple s of optimum solution;

The quadratic sum of residual error is repeated into: be launched into the perfect square form of s, obtained: wherein, and

When the quadratic sum of residual error obtains minimum value, obtain the convergent-divergent multiple s=F of optimum solution;

C4, solve the rotation parameter R of optimum solution;

When local coordinate and world coordinates coplanar time, there is angle α between world coordinates information G and local positioning information L corresponding point _j, namely have

After local rotation of coordinate crosses θ angle, the angle α between 2 _jalso will reduce θ thereupon; The quadratic sum of residual error is expressed as: calculate maximal value, namely calculates the maximal value of A cos θ+B sin θ, obtains the rotation parameter R of optimum solution; Wherein,

C5, according to the translational component t of described optimum solution obtained ₀, convergent-divergent multiple s, rotation parameter R, obtain the transformation for mula of local positioning information L to world coordinates information G and utilize this transformation for mula the local coordinate in local coordinate system to be converted to world coordinates in global coordinate system.

2. the method improving GPS positioning precision based on local positioning information according to claim 1, is characterized in that, in described steps A, local positioning information is obtained by mobile phone inertial navigation technology or wireless self-organization network.

3. the method improving GPS positioning precision based on local positioning information according to claim 2, it is characterized in that, described step B also comprises: be two-dimensional direct angular coordinate by described global coordinate transform.

4. the method improving GPS positioning precision based on local positioning information according to claim 3, it is characterized in that, in described step B, the gps receiver of GPS unit supports Universal Trans Meridian graticule mesh system (Universal Transverse Mercartor System, UTM) coordinate.

5. the method improving GPS positioning precision based on local positioning information according to claim 4, it is characterized in that, described step D specifically comprises:

The local coordinate that local positioning information L is transformed in global coordinate system is denoted as order world coordinates in world coordinates information G is matched in the local coordinate after the conversion corresponding with it, completes the correction to world coordinates.