CN102928860A - Method for improving GPS (Global Positioning System) positioning precision on the basis of local positioning information - Google Patents

Method for improving GPS (Global Positioning System) positioning precision on the basis of local positioning information Download PDF

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CN102928860A
CN102928860A CN2012103987444A CN201210398744A CN102928860A CN 102928860 A CN102928860 A CN 102928860A CN 2012103987444 A CN2012103987444 A CN 2012103987444A CN 201210398744 A CN201210398744 A CN 201210398744A CN 102928860 A CN102928860 A CN 102928860A
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吴陈沭
杨铮
刘云浩
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WUXI QINGHUA INFORMATION SCIENCE AND TECHNOLOGY NATIONAL LABORATORY INTERNET OF THINGS TECHNOLOGY CENTER
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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

Improve the method for GPS bearing accuracy based on local positioning information
Technical field
The present invention relates to field of locating technology, relate in particular to a kind of method that improves the GPS bearing accuracy based on local positioning information.
Background technology
Since 1964 come into operation, GPS (Global Positioning System, GPS) bring into play very important effect in all trades and professions such as space flight navigation, road traffic, commercial production, precision agricultures, even once promoted the technological change of various fields.Entered since 21 century, along with popularizing and integrated in smart mobile phone of GPS locating module of smart mobile phone, GPS begins to come into huge numbers of families, changes working method and the habits and customs of countless smart phone users.Location-based service, such as the position of social networks register, based on the advertisement in geographic position or information pushing, based on the social networks in geographic position etc., quietly be penetrated in the daily life of many common citizens.And GPS is as positioning system covering the whole world, then is its one of the strongest pusher behind.In the past few years, GPS has obtained global thousands of users' favor gradually with the high availability of its Global coverage and high reliability etc.Yet owing to the impact of the many-sided conditions such as shielding that are subject to number of satellite and position, atmospheric envelope condition, natural obstacle thing, there is larger positioning error in original GPS, can't satisfy the application under some special scenes.Although in the data that official announces, the GPS bearing accuracy can reach about 3 meters when using the high-quality receiver, but in common application, during especially take mobile phone as locating terminal, the actual precision that can obtain of user then often can fluctuate between 1 meter to 20 meters, and concrete error depends on its residing environment and receiving end module thereof etc.Particularly evident is that although average error can satisfy most application demand not very greatly, the single positioning error of GPS is still larger.
In order to address the above problem, GPS strengthens system such as auxiliary global satellite positioning system (Assisted Global Positioning System, AGPS) and differential Global Positioning System (Difference Global Positioning System, DGPS) etc. in succession be suggested, consuming time etc. in order to the precision, coverage rate, the location that strengthen GPS.AGPS provides faster positioning service for the GPS terminal, and reference point by known accurate location (such as the cellular base station of accurately having been located etc.) provides the initial position of the target that is positioned rapidly.DGPS uses the reference point of known location equally, but different from AGPS be that DGPS contrasts the accurate location of these reference point and the difference between its GPS position, and this species diversity is broadcast to the target that is positioned by specific network connection.And be positioned target this utilize such difference to eliminate the GPS deviation.In this way, the high energy of DGPS reaches other bearing accuracy of centimetre-sized.
But, traditional GPS enhancing system comprises that DGPS, AGPS etc. need the reference point of the special network architecture or known accurate location such as accurate cellular base station of having located etc., often need special organizational structure's maintenance operation, and only can use in some areas, the world, be difficult to realize available whenever and wherever possible.Along with the innovation of wireless communication technology, wireless self-organization network and smart mobile phone have all obtained unprecedented development.Wireless self-organization network such as radio sensing network, vehicle network etc. are deployed in the zone such as field, forest, city usually to realize the monitoring to physical environment etc.Because will obtain the relevant information in locality, it is particularly important that positional information seems in the application of these wireless networks.In the past few years, the location technology of wireless network also obtains broad research, a large amount of wireless network location as based on the location of range finding, successively be suggested based on the location of non-range finding etc.Than 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 the location, but can only reflect the relative position relation between the wireless network node, does not possess the global coordinates meaning.On the other hand, because the sensor of more and more feature richness such as acceleration transducer, gyroscope, compass etc. are integrated in the smart mobile phone, also furtherd investigate and penetration and promotion based on the inertial navigation technology of smart mobile phone.Inertial navigation technology calculates its displacement and direction, thereby calculates the position coordinates in its moving process by catching the action behavior of smart phone user, the relative positioning information of degree of precision equally also is provided, but has not possessed the 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 that improves the GPS bearing accuracy based on local positioning information, the local positioning information that it utilizes mobile phone inertial navigation technology or self-organizing network to provide is revised larger GPS deviations, has improved the GPS bearing accuracy.
For reaching this purpose, the present invention by the following technical solutions:
A kind of method that improves the GPS bearing accuracy based on local positioning information comprises the steps:
A, obtain 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, j is the integer between 1 to n;
B, obtain world coordinates information by the GPS unit, wherein, comprise the world coordinates information G={z of n node 1, z 2, z 3..., z n, world coordinates is GPS coordinate 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 the steps A is converted to world coordinates;
D, the described world coordinates among the step B is matched on the local coordinate after the conversion corresponding with it among the step C, finish the correction to world coordinates.
Especially, the local positioning information exchange is crossed the mobile phone inertial navigation technology or wireless self-organization network obtains in the described steps A.
Especially, described step B also comprises: be the two-dimensional direct angular coordinate with described global coordinate transform.
Especially, the gps receiver of GPS unit is supported general horizontal Mercator's graticule mesh system (Universal Transverse Mercartor System, UTM) coordinate among the described step B.
Especially, described step C specifically comprises:
Described local coordinate in the steps A is carried out translation, convergent-divergent and rotation to be processed, be converted to world coordinates, and so that among described world coordinates information G and the local positioning information L quadratic sum of the residual error between the world coordinates after the corresponding local coordinate conversion minimum; Wherein, local positioning information L can be expressed as to the conversion of world coordinates information G
Figure BDA00002272846300041
Residual error between the world coordinates among world coordinates information G and the local positioning information L after the corresponding local coordinate conversion is || e j||, the quadratic sum of residual error
Figure BDA00002272846300042
Figure BDA00002272846300043
Figure BDA00002272846300044
Representation conversion is behind the global coordinate system
Figure BDA00002272846300045
Figure BDA00002272846300046
t 0The expression translational component, s represents the convergent-divergent multiple,
Figure BDA00002272846300047
Expression rotates through
Figure BDA00002272846300048
Especially, among the described step C the described local coordinate in the steps A is carried out translation, convergent-divergent and rotation and processes, be converted to world coordinates, specifically comprise:
C1, employing plural number substitute bivector and represent a two-dimensional coordinate, even w j=u j+ iv j, z j=x j+ iy jBe with respect to its coordinate of barycenter separately, namely with all point transformation among local positioning information L and the world coordinates information G w j l ‾ = w j l - w ‾ j l , z j g ‾ = z j g - z ‾ j g , Wherein w ‾ j l = 1 n Σ j = 1 n w j n , z ‾ j g = 1 n Σ j = 1 n z j n The barycenter that represents respectively local positioning information L and world coordinates information G;
C2, calculating translational component t 0
With the residual error between the world coordinates after the local coordinate conversion corresponding among world coordinates information G and the local positioning information L for being expressed as:
Figure BDA000022728463000413
Have a few between the quadratic sum of residual error be expressed as:
Σ j = 1 n | | z j g ‾ - sR ( ω j l ‾ ) + t ‾ 0 | | 2
= Σ j = 1 n | | S | | 2 + 2 t ‾ 0 · Σ j = 1 n S + n | | t ‾ 0 | | 2
Wherein, t ‾ 0 = t 0 - z ‾ j g + sR ( w ‾ j l ) , S = z j g ‾ - sR ( w j l ‾ ) , Σ j = 1 n S = 0 ;
Order
Figure BDA000022728463000419
The quadratic sum of residual error obtains minimum value, by Calculate
Figure BDA000022728463000421
Be the translational component t of optimum solution 0Be the distance between the barycenter of local positioning information L and world coordinates information G;
The translational component t of C3, the optimum solution that calculates according to step C2 0, the convergent-divergent multiple s of calculating optimum solution;
With the quadratic sum of residual error repeat into:
Figure BDA00002272846300051
With its perfect square form that is launched into s, obtain: Σ j = 1 n | | ω j l ‾ | | 2 [ s - F ] 2 + Σ j = 1 n | | z j g ‾ | | 2 - Σ j = 1 n | | ω j l ‾ | | 2 F 2 , Wherein, F = Σ j = 1 n z j g ‾ · R ( ω j l ‾ ) Σ j = 1 n | | ω j l - | | 2 , And | | R ( ω j l - ) | | 2 = | | ω j l ‾ | | 2 ; When the quadratic sum of residual error obtains minimum value, obtain the convergent-divergent multiple s=F of optimum solution.
C4, the rotation parameter R that finds the solution optimum solution;
When local coordinate and world coordinates are coplanar, there is angle α between world coordinates information G and the local positioning information L corresponding point j, namely have z j g ‾ · ω j l ‾ = | | z j g ‾ | | | | ω j l ‾ | | cos α j ;
After local rotation of coordinate is crossed the θ angle, the angle α between 2 jAlso will reduce θ thereupon; The quadratic sum of residual error is expressed as: Σ j = 1 n | | z j g ‾ | | 2 + Σ j = 1 n | | ω j l ‾ | | 2 - 2 Σ j = 1 n | | z j g ‾ | | | | ω j l ‾ | | cos ( α j - θ ) , Calculate
Figure BDA00002272846300057
Maximal value is namely calculated the maximal value of Acos θ+Bsin θ, obtains the rotation parameter R of optimum solution; Wherein, A = Σ j = 1 n | | z j g ‾ | | | | ω j l ‾ | | cos α j , B = Σ j = 1 n | | z j g ‾ | | | | ω j l ‾ | | sin α j ;
C5, according to the translational component t of the described optimum solution that obtains 0, convergent-divergent multiple s, rotation parameter R, obtain local positioning information L to the transformation for mula of world coordinates information G
Figure BDA000022728463000510
And utilize this transformation for mula that the local coordinate in the local coordinate system is converted to world coordinates in the global coordinate system.
Especially, described step D specifically comprises:
The local coordinate that local positioning information L is transformed in the global coordinate system is denoted as
Figure BDA000022728463000511
Order J={1,2 ... n} matches the world coordinates among the world coordinates information G on the local coordinate after the conversion corresponding with it, finishes the correction to world coordinates.
Compare with traditional GPS enhancing system, the present invention does not need the infrastructure such as the permanent datum of known accurate location such as cellular base station, do not need special equipment such as shared data such as communication networks yet, the local positioning information of utilizing mobile phone inertial navigation technology or self-organizing network to provide, improve the GPS bearing accuracy by a series of coordinate transforms, and be easy to application deployment, can be generalized in the more wide application such as indoor positioning.
Description of drawings
The method flow diagram based on local positioning information raising GPS bearing accuracy that Fig. 1 provides for the embodiment of the invention;
The translation schematic diagram of the coordinate system transformation that Fig. 2 provides for the embodiment of the invention;
The convergent-divergent schematic diagram of the coordinate system transformation that Fig. 3 provides for the embodiment of the invention;
The rotation schematic diagram of the coordinate system transformation that Fig. 4 provides for the embodiment of the invention.
The schematic diagram that utilizes the local coordinate correction world coordinates after the conversion that Fig. 5 provides for the embodiment of the invention.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, the invention will be further described below in conjunction with drawings and Examples.
Please refer to shown in Figure 1ly, Fig. 1 improves the method flow diagram of GPS bearing accuracy for what the embodiment of the invention provided based on local positioning information.
Method based on local positioning information raising GPS bearing accuracy in the present embodiment comprises the steps:
Step S101, obtain 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, j is the integer between 1 to n.
Local positioning information can be measured by the mobile phone inertial navigation technology, also can obtain by means such as wireless self-organization network such as wireless sense network, vehicle network, WLAN.Local positioning information provides local, relative positioning result, does not possess global sense.
Step S102, obtain world coordinates information by the GPS unit, wherein, comprise the world coordinates information G={z of n node 1, z 2, z 3..., z n, world coordinates is GPS coordinate 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.
Take the vehicle network that is comprised of n node as example, it is the GPS coordinate that each node obtains inaccurate world coordinates by the GPS unit that carries, and the world coordinates set of all nodes is world coordinates information G={z 1, z 2, z 3..., z n, world coordinates is GPS coordinate 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 world coordinates that the unit provides be coordinate with respect to earth sphere, i.e. longitude and latitude.Because what the present invention considered is the two dimensional surface space, therefore also needing global coordinate transform is the two-dimensional direct angular coordinate.But, the gps receiver of GPS unit is supported general horizontal Mercator's graticule mesh system (Universal Transverse Mercartor System, UTM) coordinate in the present embodiment, and the UTM coordinate provides a kind of planimetric rectangular coordinates, need not to change again, can directly use.
Step S103, the described local coordinate among the step S101 is converted to world coordinates.
Described local coordinate among the step S101 is carried out translation, convergent-divergent and rotation to be processed, be converted to world coordinates, and so that among described world coordinates information G and the local positioning information L quadratic sum of the residual error between the world coordinates after the corresponding local coordinate conversion minimum; Wherein, local positioning information L can be expressed as to the conversion of world coordinates information G
Figure BDA00002272846300071
Residual error between the world coordinates among world coordinates information G and the local positioning information L after the corresponding local coordinate conversion is || e j||, the quadratic sum of residual error
Figure BDA00002272846300072
Figure BDA00002272846300073
Figure BDA00002272846300074
Representation conversion is behind the global coordinate system
Figure BDA00002272846300075
Figure BDA00002272846300076
t 0The expression translational component, s represents the convergent-divergent multiple,
Figure BDA00002272846300077
Expression rotates through
Figure BDA00002272846300078
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 jBe with respect to its coordinate of barycenter separately, namely with all point transformation among local positioning information L and the world coordinates information G w j l ‾ = w j l - w ‾ j l , z j g ‾ = z j g - z ‾ j g , Wherein w ‾ j l = 1 n Σ j = 1 n w j n ,
Figure BDA00002272846300084
The barycenter that represents respectively local positioning information L and world coordinates information G.Rotation with coordinate convenient expression two dimensional surface after above-mentioned processing.Wherein, the barycenter of local positioning information L is called for short the local coordinate barycenter, also is the barycenter of local coordinate system; The barycenter of world coordinates information G is called for short the world coordinates barycenter, also is the barycenter of global coordinate system.
Step S1032, calculating translational component t 0
With the residual error between the world coordinates after the local coordinate conversion corresponding among world coordinates information G and the local positioning information L for being expressed as:
Figure BDA00002272846300085
Have a few between the quadratic sum of residual error be expressed as:
Σ j = 1 n | | z j g ‾ - sR ( ω j l - ) + t ‾ 0 | | 2
= Σ j = 1 n | | S | | 2 + 2 t ‾ 0 · Σ j = 1 n S + n | | t ‾ 0 | | 2
Wherein, t ‾ 0 = t 0 - z ‾ j g + sR ( w ‾ j l ) , S = z j g ‾ - sR ( w j l ‾ ) , Σ j = 1 n S = 0 ;
Order
Figure BDA000022728463000811
The quadratic sum of residual error obtains minimum value, by
Figure BDA000022728463000812
Calculate
Figure BDA000022728463000813
Be the translational component t of optimum solution 0Be the distance between the barycenter of local positioning information L and world coordinates information G.As shown in Figure 2, the translation schematic diagram of the coordinate system transformation that provides for the embodiment of the invention of Fig. 2.201 is local coordinate among the figure, and 202 is world coordinates, and 203 is the local coordinate barycenter, and 204 is the world coordinates barycenter.
The translational component t of step S1033, the optimum solution that calculates according to step S1032 0, the convergent-divergent multiple s of calculating optimum solution;
With the quadratic sum of residual error repeat into:
Figure BDA00002272846300091
With its perfect square form that is launched into s, obtain: Σ j = 1 n | | ω j l ‾ | | 2 [ s - F ] 2 + Σ j = 1 n | | z j g ‾ | | 2 - Σ j = 1 n | | ω j l ‾ | | 2 F 2 , Wherein, F = Σ j = 1 n z j g ‾ · R ( ω j l ‾ ) Σ j = 1 n | | ω j l - | | 2 , And | | R ( ω j l - ) | | 2 = | | ω j l ‾ | | 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 the coordinate system transformation that provides for the embodiment of the invention of Fig. 3.301 is the local coordinate of convergent-divergent s after doubly among the figure.
Step S1034, the rotation parameter R that finds the solution optimum solution;
When local coordinate and world coordinates are coplanar, there is angle α between world coordinates information G and the local positioning information L corresponding point j, namely have z j g ‾ · ω j l ‾ = | | z j g ‾ | | | | ω j l ‾ | | cos α j ;
After local rotation of coordinate is crossed the θ angle, the angle α between 2 jAlso will reduce θ thereupon; The quadratic sum of residual error is expressed as: Σ j = 1 n | | z j g ‾ | | 2 + Σ j = 1 n | | ω j l ‾ | | 2 - 2 Σ j = 1 n | | z j g ‾ | | | | ω j l ‾ | | cos ( α j - θ ) , Calculate
Figure BDA00002272846300097
Maximal value is namely calculated the maximal value of Acos θ+Bsin θ, obtains the rotation parameter R of optimum solution; Wherein, A = Σ j = 1 n | | z j g ‾ | | | | ω j l ‾ | | cos α j , B = Σ j = 1 n | | z j g ‾ | | | | ω j l ‾ | | sin α j .
Two extreme points that can get Acos θ+Bsin θ to Acos θ+Bsin θ differentiate are obtained during θ at Asin θ=Bcos, at this moment
Figure BDA000022728463000910
Obviously, one of them value maximization Acos θ+Bsin θ, another minimizes Acos θ+Bsin θ.As shown in Figure 4, the rotation schematic diagram of the coordinate system transformation that provides for the embodiment of the invention of Fig. 4.The angle that exists between α world coordinates information G and the local positioning information L corresponding point among the figure, the angle that the θ local coordinate rotates through.
Step S1035, according to the translational component t of the described optimum solution that obtains 0, convergent-divergent multiple s, rotation parameter R, obtain local positioning information L to the transformation for mula of world coordinates information G
Figure BDA00002272846300101
And utilize this transformation for mula that the local coordinate in the local coordinate system is converted to world coordinates in the global coordinate system.
Step S104, the described world coordinates among the step S102 is matched on the local coordinate after the conversion corresponding with it among the step S103, finish the correction to world coordinates.
As shown in Figure 5, the schematic diagram that utilizes the local coordinate correction world coordinates after the conversion that provides for the embodiment of the invention of Fig. 5.501 are the local coordinate after changing through translation, convergent-divergent and rotary manipulation among the figure.
The local coordinate that local positioning information L is transformed in the global coordinate system is denoted as
Figure BDA00002272846300102
Order
Figure BDA00002272846300103
J={1,2 ... n} matches the world coordinates among the world coordinates information G on the local coordinate after the conversion corresponding with it, finishes 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 is revised larger GPS deviations, has improved the GPS bearing accuracy.
Above-mentioned only is preferred embodiment of the present invention and institute's application technology principle, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses, and the variation that can expect easily or replacement all should be encompassed in protection scope of the present invention.

Claims (7)

1. a method that improves the GPS bearing accuracy based on local positioning information is characterized in that, comprises the steps:
A, obtain 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, j is the integer between 1 to n;
B, obtain world coordinates information by the GPS unit, wherein, comprise the world coordinates information G={z of n node 1, z 2, z 3..., z n, world coordinates is GPS coordinate 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 the steps A is converted to world coordinates;
D, the described world coordinates among the step B is matched on the local coordinate after the conversion corresponding with it among the step C, finish the correction to world coordinates.
2. the method that improves the GPS bearing accuracy based on local positioning information according to claim 1 is characterized in that, the local positioning information exchange is crossed the mobile phone inertial navigation technology or wireless self-organization network obtains in the described steps A.
3. the method that improves the GPS bearing accuracy based on local positioning information according to claim 2 is characterized in that, described step B also comprises: be the two-dimensional direct angular coordinate with described global coordinate transform.
4. the method that improves the GPS bearing accuracy based on local positioning information according to claim 3, it is characterized in that, the gps receiver of GPS unit is supported general horizontal Mercator's graticule mesh system (Universal Transverse Mercartor System, UTM) coordinate among the described step B.
5. the method that improves the GPS bearing accuracy based on local positioning information according to claim 4 is characterized in that, described step C specifically comprises:
Described local coordinate in the steps A is carried out translation, convergent-divergent and rotation to be processed, be converted to world coordinates, and so that among described world coordinates information G and the local positioning information L quadratic sum of the residual error between the world coordinates after the corresponding local coordinate conversion minimum; Wherein, local positioning information L can be expressed as to the conversion of world coordinates information G
Figure FDA00002272846200021
Residual error between the world coordinates among world coordinates information G and the local positioning information L after the corresponding local coordinate conversion is || e j||, the quadratic sum of residual error
Figure FDA00002272846200022
Figure FDA00002272846200023
Figure FDA00002272846200024
Representation conversion is behind the global coordinate system
Figure FDA00002272846200025
Figure FDA00002272846200026
t 0The expression translational component, s represents the convergent-divergent multiple,
Figure FDA00002272846200027
Expression rotates through
Figure FDA00002272846200028
6. the method that improves the GPS bearing accuracy based on local positioning information according to claim 5 is characterized in that, among the described step C the described local coordinate in the steps A is carried out translation, convergent-divergent and rotation and processes, and is converted to world coordinates, 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 jBe with respect to its coordinate of barycenter separately, namely with all point transformation among local positioning information L and the world coordinates information G w j l ‾ = w j l - w ‾ j l , z j g ‾ = z j g - z ‾ j g , Wherein w ‾ j l = 1 n Σ j = 1 n w j n , z ‾ j g = 1 n Σ j = 1 n z j n The barycenter that represents respectively local positioning information L and world coordinates information G;
C2, calculating translational component t 0
With the residual error between the world coordinates after the local coordinate conversion corresponding among world coordinates information G and the local positioning information L for being expressed as: Have a few between the quadratic sum of residual error be expressed as:
Σ j = 1 n | | z j g ‾ - sR ( ω j l ‾ ) + t ‾ 0 | | 2
= Σ j = 1 n | | S | | 2 + 2 t ‾ 0 · Σ j = 1 n S + n | | t ‾ 0 | | 2
Wherein, t ‾ 0 = t 0 - z ‾ j g + sR ( w ‾ j l ) , S = z j g ‾ - sR ( w j l ‾ ) , Σ j = 1 n S = 0 ;
Order
Figure FDA000022728462000219
The quadratic sum of residual error obtains minimum value, by
Figure FDA000022728462000220
Calculate
Figure FDA00002272846200031
Be the translational component t of optimum solution 0Be the distance between the barycenter of local positioning information L and world coordinates information G;
The translational component t of C3, the optimum solution that calculates according to step C2 0, the convergent-divergent multiple s of calculating optimum solution;
With the quadratic sum of residual error repeat into: Σ j = 1 n | | z j g ‾ - sR ( ω j l - ) | | 2 , With its perfect square form that is launched into s, obtain: Σ j = 1 n | | ω j l ‾ | | 2 [ s - F ] 2 + Σ j = 1 n | | z j g ‾ | | 2 - Σ j = 1 n | | ω j l ‾ | | 2 F 2 , Wherein, F = Σ j = 1 n z j g ‾ · R ( ω j l ‾ ) Σ j = 1 n | | ω j l - | | 2 , And | | R ( ω j l - ) | | 2 = | | ω j l ‾ | | 2 ;
When the quadratic sum of residual error obtains minimum value, obtain the convergent-divergent multiple s=F of optimum solution.
C4, the rotation parameter R that finds the solution optimum solution;
When local coordinate and world coordinates are coplanar, there is angle α between world coordinates information G and the local positioning information L corresponding point j, namely have z j g ‾ · ω j l ‾ = | | z j g ‾ | | | | ω j l ‾ | | cos α j ; After local rotation of coordinate is crossed the θ angle, the angle α between 2 jAlso will reduce θ thereupon; The quadratic sum of residual error is expressed as: Σ j = 1 n | | z j g ‾ | | 2 + Σ j = 1 n | | ω j l ‾ | | 2 - 2 Σ j = 1 n | | z j g ‾ | | | | ω j l ‾ | | cos ( α j - θ ) , Calculate Maximal value is namely calculated the maximal value of Acos θ+Bsin θ, obtains the rotation parameter R of optimum solution; Wherein, A = Σ j = 1 n | | z j g ‾ | | | | ω j l ‾ | | cos α j , B = Σ j = 1 n | | z j g ‾ | | | | ω j l ‾ | | sin α j ;
C5, according to the translational component t of the described optimum solution that obtains 0, convergent-divergent multiple s, rotation parameter R, obtain local positioning information L to the transformation for mula of world coordinates information G
Figure FDA000022728462000311
And utilize this transformation for mula that the local coordinate in the local coordinate system is converted to world coordinates in the global coordinate system.
7. the method that improves the GPS bearing accuracy based on local positioning information according to claim 6 is characterized in that, described step D specifically comprises:
The local coordinate that local positioning information L is transformed in the global coordinate system is denoted as
Figure FDA00002272846200041
Order J={1,2 ... n} matches the world coordinates among the world coordinates information G on the local coordinate after the conversion corresponding with it, finishes the correction to world coordinates.
CN201210398744.4A 2012-10-18 2012-10-18 Method for improving GPS (Global Positioning System) positioning precision on the basis of local positioning information Active CN102928860B (en)

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CN104777501A (en) * 2015-04-17 2015-07-15 东南大学 Indoor positioning system and method based on mobile terminal GPS
CN107438752A (en) * 2016-12-23 2017-12-05 深圳前海达闼云端智能科技有限公司 Localization method, terminal and server
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CN107577646A (en) * 2017-08-23 2018-01-12 上海莫斐信息技术有限公司 A kind of high-precision track operation method and system
CN109714699A (en) * 2017-10-23 2019-05-03 深圳市优必选科技有限公司 Localization method and terminal device
CN107543545A (en) * 2017-10-30 2018-01-05 中国人民解放军国防科技大学 Polar region double-navigation inertial navigation system positioning information fusion method
CN108309594A (en) * 2018-03-14 2018-07-24 苏州辰晟优机电科技有限公司 A kind of wheelchair
CN108876857A (en) * 2018-07-02 2018-11-23 上海西井信息科技有限公司 Localization method, system, equipment and the storage medium of automatic driving vehicle
CN108876857B (en) * 2018-07-02 2020-09-29 上海西井信息科技有限公司 Method, system, device and storage medium for positioning unmanned vehicle
CN109491364A (en) * 2018-11-19 2019-03-19 长安大学 A kind of drive robot system and control method for vehicle testing
CN109491364B (en) * 2018-11-19 2022-04-01 长安大学 Driving robot system for vehicle testing and control method
CN109974704A (en) * 2019-03-01 2019-07-05 深圳市智能机器人研究院 The robot and its control method that a kind of Global localization and local positioning are mutually calibrated
CN112946708A (en) * 2019-12-11 2021-06-11 中国航天系统工程有限公司 Method and system for improving positioning accuracy of Beidou navigation system
CN112946708B (en) * 2019-12-11 2023-04-07 中国航天系统工程有限公司 Method and system for improving positioning accuracy of Beidou navigation system
CN112985374A (en) * 2021-02-09 2021-06-18 北京天地玛珂电液控制系统有限公司 Positioning method, positioning assembly and positioning system
CN112985374B (en) * 2021-02-09 2023-04-21 北京天玛智控科技股份有限公司 Positioning method, positioning assembly and positioning system

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