CN110531388A - Optimization method, device, car-mounted terminal and the storage medium of global position system - Google Patents
Optimization method, device, car-mounted terminal and the storage medium of global position system Download PDFInfo
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- CN110531388A CN110531388A CN201810505370.9A CN201810505370A CN110531388A CN 110531388 A CN110531388 A CN 110531388A CN 201810505370 A CN201810505370 A CN 201810505370A CN 110531388 A CN110531388 A CN 110531388A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems
Abstract
The invention discloses a kind of optimization method of global position system, device, car-mounted terminal and storage mediums, wherein the optimization method of global position system includes: the location information received under a variety of station-keeping modes；Filter out the location information for meeting preset condition；Optimization is weighted to the location information filtered out, to obtain the location information after optimization.Optimization method, device, car-mounted terminal and the storage medium of the global position system of the embodiment of the present invention, by receiving the location information under a variety of station-keeping modes, and filter out the location information for meeting preset condition, and optimization is weighted to the location information filtered out, to obtain the location information after optimization, the position error of Weakened System enhances robustness to improve the setting accuracy of global position system.
Description
Technical field
The present invention relates to technical field of information processing more particularly to a kind of optimization methods of global position system, device, vehicle
Mounted terminal and storage medium.
Background technique
With scientific and technological continuous progress, more and more vehicles are equipped with global position system, can help user side
Just the position of vehicle is positioned.And the accuracy positioned is to measure an important indicator of global position system.Currently, mainly adopting
The accuracy of satellite positioning is improved with the differential position of inertial navigation technology and ground base station.But Differential positioning skill
Art needs to introduce ground differential signal station and comes auxiliary positioning, high construction cost, limited coverage area.Inertial navigation technology be easy by
To the influence of environment, after systematic error reaches a certain level, inertial navigation technology can not make up systematic error well.
Summary of the invention
The present invention provides optimization method, device, car-mounted terminal and the storage medium of a kind of global position system, on solving
State at least one of technical problem.
The embodiment of the present invention provides a kind of optimization method of global position system, comprising:
Receive the location information under a variety of station-keeping modes；
Filter out the location information for meeting preset condition；
Optimization is weighted to the location information filtered out, to obtain the location information after optimization.
Optionally, the location information for meeting preset condition is filtered out, comprising:
Parse the witness marker position in the location information under a variety of station-keeping modes and number of satellite；
Filter out the witness marker position be successfully, and number of satellite be more than or equal to preset quantity location information.
Optionally, optimization is weighted to the location information filtered out, to obtain the location information after optimization, comprising:
The corresponding weighting coefficient of the location information filtered out described in acquisition；
Optimization is weighted to the location information filtered out accordingly according to the weighting coefficient.
Optionally, the corresponding weighting coefficient of the location information filtered out described in acquisition, comprising:
The corresponding position error coefficient of the location information filtered out described in acquisition and carrier-to-noise ratio；
The signal of the location information filtered out is calculated with reference to deviation factor according to the carrier-to-noise ratio；
The value range of the weighting coefficient is determined with reference to deviation factor according to the position error coefficient and the signal.
Optionally, method further include:
Optimization is being weighted to the location information filtered out, after obtaining the location information after optimization, to described excellent
Location information after change carries out data smoothing processing.
Optionally, the processing mode of the data smoothing processing includes Kalman filtering.
Optionally, the location information under a variety of station-keeping modes includes longitude information, latitude information and altitude information.
Optionally, the station-keeping mode includes GPS mode, Beidou mode, GLONASS mode and GALILEO mode.
Another embodiment of the present invention provides a kind of optimization devices of global position system, comprising:
Receiving module, for receiving the location information under a variety of station-keeping modes；
Screening module, for filtering out the location information for meeting preset condition；
Module is obtained, for being weighted optimization to the location information filtered out, to obtain the location information after optimization.
Optionally, the screening module, is used for:
Parse the witness marker position in the location information under a variety of station-keeping modes and number of satellite；
Filter out the witness marker position be successfully, and number of satellite be more than or equal to preset quantity location information.
Optionally, the acquisition module, is used for:
The corresponding weighting coefficient of the location information filtered out described in acquisition；
Optimization is weighted to the location information filtered out accordingly according to the weighting coefficient.
Optionally, the acquisition module, is used for:
The corresponding position error coefficient of the location information filtered out described in acquisition and carrier-to-noise ratio；
The signal of the location information filtered out is calculated with reference to deviation factor according to the carrier-to-noise ratio；
The value range of the weighting coefficient is determined with reference to deviation factor according to the position error coefficient and the signal.
Optionally, described device further include:
Processing module, for being weighted optimization to the location information filtered out, to obtain the location information after optimization
Later, data smoothing processing is carried out to the location information after the optimization.
Optionally, the processing mode of the data smoothing processing includes Kalman filtering.
Optionally, the location information under a variety of station-keeping modes includes longitude information, latitude information and altitude information.
Optionally, the station-keeping mode includes GPS mode, Beidou mode, GLONASS mode and GALILEO mode.
A further embodiment of the present invention provides a kind of non-transitorycomputer readable storage medium, is stored thereon with computer journey
Sequence realizes the excellent of the global position system as described in first aspect present invention embodiment when the computer program is executed by processor
Change method.
Further embodiment of this invention provides a kind of car-mounted terminal, including global position system, and the global position system is used
In the optimization method for realizing global position system described in first aspect embodiment.
Technical solution provided in an embodiment of the present invention can include the following benefits:
By receiving the location information under a variety of station-keeping modes, and the location information for meeting preset condition is filtered out, and
Optimization is weighted to the location information filtered out, the location information after being optimized with acquisition, the position error of Weakened System, thus
The setting accuracy of global position system is improved, robustness is enhanced.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow chart of the optimization method of the global position system of one embodiment of the invention；
Fig. 2 is the flow chart for the corresponding weighting coefficient of location information that the acquisition of one embodiment of the invention filters out；
Fig. 3 is the flow chart of the optimization method of the global position system of another embodiment of the present invention；
Fig. 4 is the structural block diagram of the optimization device of the global position system of one embodiment of the invention；
Fig. 5 is the structural block diagram of the optimization device of the global position system of another embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings describe the optimization method of the global position system of the embodiment of the present invention, device, car-mounted terminal and
Storage medium.
Fig. 1 is the flow chart of the optimization method of global position system according to an embodiment of the invention.
As shown in Figure 1, the optimization method of the global position system includes:
S101 receives the location information under a variety of station-keeping modes.
Currently, the global position system of mainstream is still GPS.But with the satellites such as Beidou, GLONASS, GALILEO
Navigation system constantly improve, and more and more location navigation products all support multimode to position.That is the internal core of product
Using single station-keeping mode, a progress location navigation in a variety of global position systems is only selected.When one of which is asked
After topic, then it is switched to another station-keeping mode.Under single station-keeping mode, what is mainly taken is inertial navigation technology, using each
Kind sensor and algorithm optimization carry out auxiliary positioning navigation, gradually control the accuracy of positioning to 2 meters or so.But which
Be protected from environmental big, systematic error is not a fixed value, after systematic error reaches a certain level, inertial navigation technology without
Method makes up the systematic error.Certainly, also there is the differential position for taking ground base station, need to introduce ground differential signal station
Carry out auxiliary positioning.However, the high construction cost of differential signal station investment, limited coverage area cause differential position to be only capable of
It is used in partial region.
To solve the above-mentioned problems, the present invention proposes a kind of optimization method of global position system, introduces multimode localization machine
System, improves the setting accuracy of global position system.
In one embodiment of the invention, it can receive the location information under a variety of station-keeping modes.Wherein, station-keeping mode can
Including GPS mode, Beidou mode, GLONASS mode and GALILEO mode.Location information under a variety of station-keeping modes includes
Longitude information, latitude information and altitude information.
In the prior art, the location information under a kind of station-keeping mode can only be received, in the signal that the station-keeping mode receives
It is not strong enough or after going wrong, it is just switched to another station-keeping mode, receives the location information under another station-keeping mode.Difference
In the prior art, the present embodiment can receive the letter of the positioning under tetra- kinds of GPS, Beidou, GLONASS, GALILEO different modes simultaneously
Breath.
S102 filters out the location information for meeting preset condition.
After receiving the location information under a variety of station-keeping modes, the location information for meeting preset condition can be filtered out.
Specifically, the witness marker position in the location information under a variety of station-keeping modes and number of satellite can be parsed, positioning is then obtained
Flag bit be successfully, and number of satellite be more than or equal to preset quantity location information.For example, GPS mode, north can be demodulated respectively
Witness marker position and number of satellite under bucket mode, GLONASS mode, GALILEO mode.If under four kinds of mode, positioning mark
Will position is success, and number of satellite is all larger than 4, then the location information of these four modes can be chosen simultaneously.If a certain
Witness marker position under mode is to position unsuccessful, or position successfully that still number of satellite is lower than 4, then then filtering out this
The location information of mode gets rid of the factor for influencing setting accuracy.
S103 is weighted optimization to the location information filtered out, to obtain the location information after optimization.
After filtering out and meeting the location information of preset condition, optimization fortune can be weighted to the location information filtered out
It calculates, and then obtains the location information after optimization.
Specifically, it can get the corresponding weighting coefficient of location information filtered out, then according to weighting coefficient to corresponding
The location information filtered out is weighted optimization.
Wherein, the corresponding weighting coefficient of the location information filtered out is obtained, as shown in Fig. 2, can comprise the following steps that
S201 obtains the corresponding position error coefficient of the location information filtered out and carrier-to-noise ratio.
S202 calculates the signal of the location information filtered out according to carrier-to-noise ratio with reference to deviation factor.
S203 determines the value range of weighting coefficient according to position error coefficient and signal with reference to deviation factor.
It is illustrated below with a specific example:
Global position system can receive simultaneously the satellite-signal of GPS, Beidou, GLONASS, GALILEO, and demodulate
The location data (witness marker position and number of satellite) of GPS, Beidou, GLONASS, GALILEO.First, it is determined that four kinds of satellites
Whether have in bit pattern and positions invalid mode.Wherein, including two Rule of judgment: the first Rule of judgment, witness marker position are
Success.If witness marker position is unsuccessful, the location data of associative mode is not included in subsequent calculating process.Second judgement
Condition, number of satellite >=4.That is, 4 satellites are just able to achieve precise positioning.Although lower than 4 satellites can be realized fixed
Position, but error is excessive.Filter out the subsequent weighting processing of location data progress for meeting both of the aforesaid Rule of judgment.
Assuming that the location data of four kinds of modes meets Rule of judgment, then the location data under these four modes is added
Power processing.Specifically, the position error of GPS system is oGPS, position error can be the empirical value that official provides, is also possible to
By known parameters calculated value.The carrier-to-noise ratio of GPS satellite signal is Cn(n=1,2 ... n).Wherein, CnIt is for known parameter.So
Afterwards, carrier-to-noise ratio C can be based onn, the signal of GPS system is calculated with reference to deviations using formula oneGPS-C/N。
Formula one:
And the location data of GPS system is (LngGPS,LngGPS, LatGPS), respectively correspond longitude, latitude and height above sea level.
Similarly, the position error of dipper system is σBD, then the signal of dipper system refers to deviationsBD-C/NFormula can be passed through
Two are calculated.
Formula two:
The location data of dipper system is (LngBD, LatBD, EleBD)。
Similarly, the position error of GLONASS system is σGLONASS.So, the signal of GLONASS system refers to deviation
σGLONASS-C/NIt can be calculated by formula three.
Formula three:
The location data of GLONASS system is (LngGLONASS,LngGLONASS, LatGLONASS,)。
Similarly, the position error of GALILEO system is σGALILEO.So, the signal of GALILEO system refers to deviation
σGALILEO-C/NIt can be calculated by formula four.
Formula four:
The location data of GALILEO system is (LngGALILEO, LatGALILEO,LatCALILEO)。
After above-mentioned location data is ready to, processing can be weighted to it.
Firstly, the position error of global position system is (oGPS, oBD, oGLONASS, oGALILEO), it is known parameters.Signal
It is (σ with reference to deviationGPS-C/N, σBD-C/N, σCLONASS-C/N, σGALILEO-C/N), it is calculated and is obtained according to carrier-to-noise ratio.Assuming that four kinds of positioning moulds
Weighting coefficient under formula isSo, it can be calculated and be added based on formula five to formula seven
Weight coefficient (εGPS, εDD, εGLONASS, εGALILEOValue range.
Formula five: εGPS+εBD+εGLONASS+εGALILEO-1；
Six: Min (ε of formulaGPS*σGPS+εBD*σBD+εGLONASS*σGLONASS+εGALILEO*σGALILEO)；
Formula seven:
Min(εGPS*σGPS-c/N+εBD*σBD-C/N+εGLONASS*σGLONASS-C/N+εGALILEO*σGALILEO-C/N)。
(ε is calculated by above-mentioned formulaGPS, εBD, εGLONASS, εGALILEO) value range, then further according to formula eight to
Formula ten calculates the location data after weighting.
Formula eight:
Lng=εGPS*LngGPS+εBD*LngBD+εGLONASS*LngGLONASS+εGALILEO*LngGALILEO；
Formula nine:
Lat=aGPS*LatGPS|aBD*LatBD|aGLONASS*LatGLONASS|aGALILEO*LatGALILEO；
Formula ten:
Fle=εGPS*EleGPS+εBD+EleBD+εGLONASS*EleGLONASS+εGALILEO+EleGALILEO。
Finally, the location data (Lng, Lat, Ele) after weighting is calculated according to above-mentioned formula.
In practical applications, due to GPS system, dipper system, GLONASS system, GALILEO system satellite, in day
Aerial distributing position is different, in a certain region it is possible that the case where a certain global position system is not available.Originally show
Example can be weighted using the location data of other global position systems that can be positioned, and obtain more accurately positioning
Data, weaken that location data deviation caused by a certain global position system is excessive significantly, and then enhance the steady of global position system
Strong property.
It should be understood that the present embodiment is only described using current most common 4 kinds of satellite positioning modes as example,
Any 3 kinds therein can also be chosen as an example, the present embodiment and being not limited thereof.If future occurs more
The method of the global position system of different mode, the present embodiment is still effective.
The optimization method of global position system of the invention by receiving the location information under a variety of station-keeping modes, and sieves
The location information for meeting preset condition is selected, and optimization is weighted to the location information filtered out, after obtaining optimization
Location information, the position error of Weakened System enhance robustness to improve the setting accuracy of global position system.
As shown in figure 3, the optimization method of the global position system may also include that
S104 is being weighted optimization to the location information filtered out, after obtaining the location information after optimization, to excellent
Location information after change carries out data smoothing processing.
In order to further increase the setting accuracy of global position system, after being weighted processing to location information,
Can also data smoothing processing be carried out to the location information after optimization.Wherein, the processing mode of data smoothing processing may include karr
Graceful filtering.
In order to realize above-described embodiment, the invention also provides a kind of optimization device of global position system, Fig. 4 is basis
The structural block diagram of the optimization device of the global position system of one embodiment of the invention, as shown in figure 4, the device includes receiving mould
Block 410, screening module 420 and acquisition module 430.
Wherein, receiving module 410, for receiving the location information under a variety of station-keeping modes.
Screening module 420, for filtering out the location information for meeting preset condition.
Module 430 is obtained, for being weighted optimization to the location information filtered out, to obtain the positioning letter after optimization
Breath.
As shown in figure 5, the optimization device of global position system may also include processing module 340.
Processing module 440, for being weighted optimization to the location information filtered out, to obtain the positioning letter after optimization
After breath, data smoothing processing is carried out to the location information after optimization.
It should be noted that the explanation of the aforementioned optimization method to global position system, is also applied for of the invention real
The optimization device of the global position system of example is applied, unpub details in the embodiment of the present invention, details are not described herein.
The optimization device of global position system of the invention by receiving the location information under a variety of station-keeping modes, and sieves
The location information for meeting preset condition is selected, and optimization is weighted to the location information filtered out, after obtaining optimization
Location information, the position error of Weakened System enhance robustness to improve the setting accuracy of global position system.
In order to realize above-described embodiment, the invention also provides a kind of car-mounted terminals.
Car-mounted terminal includes global position system, and the global position system is for realizing first aspect present invention embodiment
The optimization method of global position system.
In order to realize above-described embodiment, the invention also provides a kind of non-transitorycomputer readable storage mediums, thereon
It is stored with computer program, the satellite positioning of first aspect present invention embodiment is realized when which is executed by processor
The optimization method of system.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (ram), read-only memory
(rom), erasable edit read-only storage (eprom or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (cdrom).In addition, computer-readable medium can even is that can on it the paper of print routine or other suitable be situated between
Matter, because can then be edited, be interpreted or when necessary with other for example by carrying out optical scanner to paper or other media
Suitable method is handled electronically to obtain program, is then stored in computer storage.
It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (pga), scene
Programmable gate array (fpga) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
Suddenly be that relevant hardware can be instructed to complete by program, program can store in a kind of computer readable storage medium
In, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.If integrated module with
The form of software function module is realized and when sold or used as an independent product, also can store computer-readable at one
It takes in storage medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (18)
1. a kind of optimization method of global position system characterized by comprising
Receive the location information under a variety of station-keeping modes；
Filter out the location information for meeting preset condition；
Optimization is weighted to the location information filtered out, to obtain the location information after optimization.
2. the method as described in claim 1, which is characterized in that filter out the location information for meeting preset condition, comprising:
Parse the witness marker position in the location information under a variety of station-keeping modes and number of satellite；
Filter out the witness marker position be successfully, and number of satellite be more than or equal to preset quantity location information.
3. the method as described in claim 1, which is characterized in that optimization is weighted to the location information filtered out, to obtain
Location information after optimization, comprising:
The corresponding weighting coefficient of the location information filtered out described in acquisition；
Optimization is weighted to the location information filtered out accordingly according to the weighting coefficient.
4. method as claimed in claim 3, which is characterized in that the corresponding weighting system of the location information filtered out described in acquisition
Number, comprising:
The corresponding position error coefficient of the location information filtered out described in acquisition and carrier-to-noise ratio；
The signal of the location information filtered out is calculated with reference to deviation factor according to the carrier-to-noise ratio；
The value range of the weighting coefficient is determined with reference to deviation factor according to the position error coefficient and the signal.
5. the method as described in claim 1, which is characterized in that further include:
Optimization is being weighted to the location information filtered out, after obtaining the location information after optimization, after the optimization
Location information carry out data smoothing processing.
6. method as claimed in claim 5, which is characterized in that the processing mode of the data smoothing processing includes Kalman's filter
Wave.
7. the method as described in claim 1, which is characterized in that the location information under a variety of station-keeping modes includes longitude letter
Breath, latitude information and altitude information.
8. the method as described in claim 1, which is characterized in that the station-keeping mode include GPS mode, Beidou mode,
GLONASS mode and GALILEO mode.
9. a kind of optimization device of global position system characterized by comprising
Receiving module, for receiving the location information under a variety of station-keeping modes；
Screening module, for filtering out the location information for meeting preset condition；
Module is obtained, for being weighted optimization to the location information filtered out, to obtain the location information after optimization.
10. device as claimed in claim 9, which is characterized in that the screening module is used for:
Parse the witness marker position in the location information under a variety of station-keeping modes and number of satellite；
Filter out the witness marker position be successfully, and number of satellite be more than or equal to preset quantity location information.
11. device as claimed in claim 9, which is characterized in that the acquisition module is used for:
The corresponding weighting coefficient of the location information filtered out described in acquisition；
Optimization is weighted to the location information filtered out accordingly according to the weighting coefficient.
12. device as claimed in claim 11, which is characterized in that the acquisition module is used for:
The corresponding position error coefficient of the location information filtered out described in acquisition and carrier-to-noise ratio；
The signal of the location information filtered out is calculated with reference to deviation factor according to the carrier-to-noise ratio；
The value range of the weighting coefficient is determined with reference to deviation factor according to the position error coefficient and the signal.
13. device as claimed in claim 9, which is characterized in that further include:
Processing module, for being weighted optimization to the location information filtered out, after obtaining the location information after optimization,
Data smoothing processing is carried out to the location information after the optimization.
14. device as claimed in claim 13, which is characterized in that the processing mode of the data smoothing processing includes Kalman
Filtering.
15. device as claimed in claim 9, which is characterized in that the location information under a variety of station-keeping modes includes longitude
Information, latitude information and altitude information.
16. device as claimed in claim 9, which is characterized in that the station-keeping mode include GPS mode, Beidou mode,
GLONASS mode and GALILEO mode.
17. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, the computer program is processed
The optimization method such as the described in any item global position systems of claim 1-8 is realized when device executes.
18. a kind of car-mounted terminal, including global position system, the global position system is appointed for realizing such as claim 1-8
The optimization method of global position system described in one.
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| CN112305577A (en) * | 2020-10-13 | 2021-02-02 | 安徽富煌科技股份有限公司 | Vehicle-mounted centralized control system based on satellite-inertial navigation combined positioning |
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