CN114234969B - Navigation positioning method and device and electronic equipment - Google Patents

Navigation positioning method and device and electronic equipment Download PDF

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Publication number
CN114234969B
CN114234969B CN202111554399.4A CN202111554399A CN114234969B CN 114234969 B CN114234969 B CN 114234969B CN 202111554399 A CN202111554399 A CN 202111554399A CN 114234969 B CN114234969 B CN 114234969B
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positioning
positioning information
inertial
satellite
information
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CN114234969A (en
Inventor
邓海峰
高琰
殷飞
李德伟
冯绍晰
刘俊
杨洋
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Shanghai Huace Navigation Technology Ltd
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Shanghai Huace Navigation Technology Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • 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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The application provides a navigation positioning method, a navigation positioning device and electronic equipment, wherein the method comprises the steps of judging whether a global satellite positioning technology is available currently; if yes, acquiring satellite positioning information of a global satellite positioning technology for positioning a carrier, map positioning information of a map matching positioning technology for positioning the carrier and inertial positioning information of an inertial navigation technology for positioning the carrier; calculating the observed quantity of the Kalman filter according to the satellite positioning information, the map positioning information and the inertial positioning information; measuring and updating the Kalman filter according to the observed quantity to obtain updating error information output by the Kalman filter; and correcting the inertial positioning information according to the updated error information output by the Kalman filter to obtain corrected positioning information. The navigation positioning method provided by the application integrates the advantages of the global satellite positioning technology, the map matching technology and the inertial navigation technology, so that the finally obtained positioning information is more accurate.

Description

Navigation positioning method and device and electronic equipment
Technical Field
The application relates to the technical field of navigation positioning, in particular to a navigation positioning method, a navigation positioning device and electronic equipment.
Background
At present, the navigation positioning application of the vehicle is mainly implemented by a global satellite (GNSS) navigation positioning technology, an Inertial (INS) navigation positioning technology, a GNSS/INS combined navigation technology, a map matching positioning technology and the like, and electromagnetic wave signals of the navigation satellites are easy to be shielded and interfered by the environment, so that satellite signals are weak, and the positioning performance of the global satellite (GNSS) navigation positioning technology is reduced or even cannot be accurately positioned; the sensor of the inertial navigation positioning technology has measurement errors and noise, so that positioning errors are accumulated along with time; the GNSS/INS integrated navigation technology also has the problem of reduced positioning precision and reliability under complex or severe environments; map-matching positioning techniques suffer from poor positioning accuracy and continuity (e.g., high speed) in a weak texture environment.
Disclosure of Invention
The embodiment of the application aims to provide a navigation positioning method, a navigation positioning device and electronic equipment, which are used for solving the problems.
In a first aspect, the present application provides a navigation positioning method, the method comprising: judging whether the global satellite positioning technology is currently available; if yes, acquiring satellite positioning information of a global satellite positioning technology for positioning a carrier, map positioning information of a map matching positioning technology for positioning the carrier and inertial positioning information of an inertial navigation technology for positioning the carrier; calculating the observed quantity of a Kalman filter according to satellite positioning information, map positioning information and inertial positioning information, wherein the Kalman filter is constructed based on an error equation of inertial navigation; measuring and updating the Kalman filter according to the observed quantity to obtain updating error information output by the Kalman filter; and correcting the inertial positioning information according to the updated error information output by the Kalman filter to obtain corrected positioning information.
According to the navigation positioning method, under the condition that a global satellite positioning technology is available, satellite positioning information of the global satellite positioning technology for carrier positioning, map positioning information of the map matching positioning technology for carrier positioning and inertial positioning information of the inertial navigation technology for carrier positioning are obtained, then observed quantity of the Kalman filter is calculated according to the satellite positioning information, the map positioning information and the inertial positioning information, so that measurement and update are carried out on the Kalman filter according to the observed quantity, update error information output by the Kalman filter is obtained, and finally the inertial positioning information is corrected according to the update error information output by the Kalman filter, so that corrected positioning information is obtained. The Kalman filter is measured and updated by combining the global satellite positioning technology, the map matching technology and the inertial navigation technology, so that the Kalman filter outputs updated optimal error information.
In an alternative implementation of the first aspect, calculating the observed quantity of the kalman filter based on the satellite positioning information, the map positioning information and the inertial positioning information includes: calculating a first position difference value of satellite positioning information and map positioning information; judging whether the first position difference value is smaller than a first preset threshold value or not; if yes, positioning information with smaller positioning nominal precision and inertial positioning information are selected from the satellite positioning information and the map positioning information to calculate a second position difference value, and the second position difference value is used as an observed quantity.
In an optional implementation manner of the first aspect, after determining whether the first position difference value is smaller than the first preset threshold value, the method further includes: if the first position difference value is larger than a first preset threshold value, acquiring a satellite displacement increment, a map displacement increment and an inertial displacement increment, wherein the displacement increment represents a displacement difference value of a positioning position at a starting time point and a stopping time point of a preset time period; calculating a first displacement difference value between the satellite displacement increment and the inertial displacement increment and a second displacement difference value between the map displacement increment and the inertial displacement; and calculating the observed quantity of the Kalman filter according to the first displacement difference value and the second displacement difference value.
In an alternative implementation of the first aspect, calculating the observed quantity of the kalman filter from the first displacement difference and the second displacement difference includes: respectively judging whether the first displacement difference value and the second displacement difference value are smaller than a second preset threshold value or not; if the first position difference value and the second position difference value are smaller than a second preset threshold value, positioning information with smaller positioning nominal precision and inertial positioning information are selected from the satellite positioning information and the map positioning information to calculate a third position difference value, and the third position difference value is used as an observed quantity; if one of the first position difference value and the second position difference value is smaller than a second preset threshold value, positioning information smaller than the second preset threshold value and inertial positioning information are selected from the satellite positioning information and the map positioning information to calculate a third position difference value, and the third position difference value is used as an observed quantity.
In an optional implementation manner of the first aspect, after determining whether the global satellite positioning technology is currently available, the method further includes: if the global satellite positioning technology is unavailable, map positioning information positioned by a map matching positioning technology and inertial positioning information positioned by an inertial navigation technology are acquired; calculating a fourth position difference value of the map positioning information and the inertial positioning information; judging whether the fourth position difference value is smaller than a third preset threshold value or not; if yes, measuring and updating the Kalman filter according to the fourth position difference value to obtain second updating error information output by the Kalman filter; and correcting the inertial positioning information according to the second updating error information output by the Kalman filter to obtain corrected positioning information.
In an optional implementation manner of the first aspect, after acquiring satellite positioning information of the global satellite positioning technology for positioning the carrier, map positioning information of the map matching positioning technology for positioning the carrier, and inertial positioning information of the inertial navigation technology for positioning the carrier, the method further includes: calculating a first distance between the satellite positioning information and the satellite, a second distance between the map positioning information and the satellite, and a third distance between the inertial positioning information and the satellite; calculating a first distance difference between the second distance and the first distance and a second distance difference between the third distance and the first distance; respectively judging whether the first distance difference and the second distance difference are smaller than a fourth preset threshold value or not; if the first distance difference and the second distance difference are smaller than a fourth preset threshold, selecting any one of the first distance difference and the second distance difference as an observed quantity, carrying out measurement updating on a second Kalman filter to obtain third updating error information output by the second Kalman filter, and correcting the inertial positioning information according to the third updating error information to obtain corrected positioning information, wherein the second Kalman filter is formed based on an error equation of inertial navigation and clock errors of global satellite positioning; if one of the first distance difference and the second distance difference is smaller than a fourth preset threshold, taking the distance difference smaller than the fourth preset threshold as an observed quantity, measuring and updating the second Kalman filter to obtain third updating error information output by the second Kalman filter, and correcting the inertial positioning information according to the third updating error information to obtain corrected positioning information; and if the first distance difference and the second distance difference are not smaller than the fourth preset threshold value, taking the inertial positioning information as final positioning information.
In an optional implementation of the first aspect, the method further comprises: acquiring positioning information of inertial navigation under the condition that a global satellite positioning technology is currently available, wherein the positioning information comprises the current speed and the movement direction of an inertial navigation carrier; updating a satellite signal tracking loop of the global positioning technology according to the current speed and the moving direction of the inertial navigation carrier and the current speed and the direction of the satellite to obtain an updated satellite signal tracking loop, capturing and tracking a satellite navigation positioning signal by using the updated satellite signal tracking loop, analyzing the satellite navigation positioning observed quantity to position the carrier, and obtaining the positioning information of the carrier.
In a second aspect, the present invention provides a navigation positioning device, the device comprising: the judging module is used for judging whether the global satellite positioning technology is available currently; the acquisition module is used for acquiring satellite positioning information of the global satellite positioning technology for carrier positioning, map positioning information of the map matching positioning technology for carrier positioning and inertial positioning information of the inertial navigation technology for carrier positioning after the judging module judges that the global satellite positioning technology is currently available; the calculation module is used for calculating the observed quantity of a Kalman filter according to the satellite positioning information, the map positioning information and the inertial positioning information, and the Kalman filter is constructed based on an error equation of inertial navigation; the measurement updating module is also used for carrying out measurement updating on the Kalman filter according to the observed quantity to obtain updating error information output by the Kalman filter; and the correction module is used for correcting the inertial positioning information according to the updated error information output by the Kalman filter to obtain corrected positioning information.
According to the navigation positioning device, under the condition that a global satellite positioning technology is available, satellite positioning information of the global satellite positioning technology for carrier positioning, map positioning information of the map matching positioning technology for carrier positioning and inertial positioning information of the inertial navigation technology for carrier positioning are obtained, then observed quantity of the Kalman filter is calculated according to the satellite positioning information, the map positioning information and the inertial positioning information, so that measurement and update are carried out on the Kalman filter according to the observed quantity, update error information output by the Kalman filter is obtained, and finally the inertial positioning information is corrected according to the update error information output by the Kalman filter, so that corrected positioning information is obtained. The Kalman filter is measured and updated by combining the global satellite positioning technology, the map matching technology and the inertial navigation technology, so that the Kalman filter outputs updated optimal error information.
In an optional implementation manner of the second aspect, the calculating module is specifically configured to calculate a first position difference value of the satellite positioning information and the map positioning information; judging whether the first position difference value is smaller than a first preset threshold value or not; if yes, positioning information with smaller positioning nominal precision and inertial positioning information are selected from the satellite positioning information and the map positioning information to calculate a second position difference value, and the second position difference value is used as an observed quantity.
In an optional implementation manner of the second aspect, the calculation module is further specifically configured to obtain a satellite displacement increment, a map displacement increment, and an inertial displacement increment if the first position difference is greater than a preset threshold, where the displacement increment represents a displacement difference between a positioning position at a start time point and a positioning position at a stop time point of the preset time period; calculating a first displacement difference value between the satellite displacement increment and the inertial displacement increment and a second displacement difference value between the map displacement increment and the inertial displacement; and calculating the observed quantity of the Kalman filter according to the first displacement difference value and the second displacement difference value.
In an optional implementation manner of the second aspect, the calculating module is further specifically configured to determine whether the first displacement difference value and the second displacement difference value are smaller than a second preset threshold value, respectively; if the first position difference value and the second position difference value are smaller than a second preset threshold value, positioning information with smaller positioning nominal precision and inertial positioning information are selected from the satellite positioning information and the map positioning information to calculate a third position difference value, and the third position difference value is used as an observed quantity; if one of the first position difference value and the second position difference value is smaller than a second preset threshold value, positioning information smaller than the second preset threshold value and inertial positioning information are selected from the satellite positioning information and the map positioning information to calculate a third position difference value, and the third position difference value is used as an observed quantity.
In an optional implementation manner of the second aspect, the obtaining module is further configured to obtain map positioning information located by a map matching positioning technology and inertial positioning information located by an inertial navigation technology after the global satellite positioning technology is unavailable; the calculation module is also used for calculating a fourth position difference value of the map positioning information and the inertial positioning information; the judging module is further used for judging whether the fourth position difference value is smaller than a third preset threshold value; the measurement updating module is further configured to perform measurement updating on the kalman filter according to the fourth position difference value after the judging module judges that the fourth position difference value is smaller than the third preset threshold value, so as to obtain second update error information output by the kalman filter; and the correction module is also used for correcting the inertial positioning information according to the second updating error information output by the Kalman filter to obtain corrected positioning information.
In an optional implementation manner of the second aspect, the obtaining module is further configured to obtain positioning information of inertial navigation in a case where global satellite positioning technology is currently available, where the positioning information includes a current speed and a movement direction of the inertial navigation carrier; the updating module is used for updating the satellite signal tracking loop of the global positioning technology according to the current speed and the motion direction of the inertial navigation carrier and the current speed and the direction of the satellite to obtain an updated satellite signal tracking loop; and the positioning module is used for capturing and tracking satellite navigation positioning signals by utilizing the updated satellite signal tracking loop, analyzing satellite navigation positioning observables and positioning the carrier to obtain positioning information of the carrier.
In a third aspect, the present application provides an electronic device comprising a memory storing a computer program and a processor executing the computer program to perform the method of any of the alternative implementations of the first aspect.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method of any of the alternative implementations of the first aspect.
In a fifth aspect, the present application provides a computer program product which, when run on a computer, causes the computer to perform the method of any of the alternative implementations of the first aspect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a first flowchart of a navigation positioning method according to an embodiment of the present application;
FIG. 2 is a second flowchart of a navigation positioning method according to an embodiment of the present application;
FIG. 3 is a third flowchart of a navigation positioning method according to an embodiment of the present application;
FIG. 4 is a fourth flowchart of a navigation positioning method according to an embodiment of the present application;
FIG. 5 is a fifth flowchart of a navigation positioning method according to an embodiment of the present application;
FIG. 6 is a sixth flowchart of a navigation positioning method according to an embodiment of the present application;
FIG. 7 is a seventh flowchart of a navigation positioning method according to an embodiment of the present application;
FIG. 8 is a schematic structural diagram of a navigation positioning device according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Icon: 800-judging module; 810 an acquisition module; 820-a calculation module; 830-a measurement update module; 840-a correction module; 850-updating a module; 860-a positioning module; 9-an electronic device; 901-a processor; 902-a memory; 903-communication bus.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.
The embodiment of the application provides a navigation positioning method, which combines global navigation satellite technology, inertial navigation and map navigation so as to improve the continuity and accuracy of navigation positioning, wherein the navigation positioning method can be applied to a target carrier, and the target carrier is provided with a global navigation positioning system (Global Navigation Satellite System, GNSS), an Inertial (INS) navigation positioning system and a map matching positioning system, wherein the target carrier can comprise a vehicle or other terminal equipment, such as a mobile phone, and the like, and other terminal equipment, such as the mobile phone, and the like, as shown in fig. 1, the navigation positioning method comprises the following steps:
Step S100: it is determined whether the global satellite positioning technology is currently available, and if so, the process goes to step S110.
Step S110: satellite positioning information of the global satellite positioning technology for positioning the carrier, map positioning information of the map matching positioning technology for positioning the carrier and inertial positioning information of the inertial navigation technology for positioning the carrier are obtained.
Step S120: and calculating the observed quantity of the Kalman filter according to the satellite positioning information, the map positioning information and the inertial positioning information.
Step S130: and measuring and updating the Kalman filter according to the observed quantity to obtain updated error information output by the Kalman filter.
Step S140: and correcting the inertial positioning information according to the updated error information output by the Kalman filter to obtain corrected positioning information.
In step S100, the present solution first determines whether a global positioning system GNSS on the target carrier is currently available, where the global positioning system GNSS is easily interfered by the environment, for example, in an overhead, tunnel or canyon shielding environment, the satellite signal is weak, so that the GNSS is not available. Specifically, the scheme can judge whether the positioning information uploaded by the global satellite positioning system GNSS can be obtained, and if the global satellite positioning system GNSS has the uploaded positioning information, the current availability of the global satellite positioning system GNSS is indicated; if the global positioning system GNSS does not have the uploaded positioning information, then it is determined that the global positioning system GNSS is not currently available.
Based on the judgment that the global satellite positioning system GNSS is currently available, the method executes step S110 to obtain satellite positioning information of the global satellite positioning technology for positioning the carrier, map positioning information of the map matching positioning technology for positioning the carrier, and inertial positioning information of the inertial navigation technology for positioning the carrier. The satellite positioning information, the map positioning information and the inertial positioning information may include current position information, current speed information and current direction information of the carrier, where the current direction information indicates a current traveling direction of the carrier.
On the basis of obtaining the satellite positioning information, the map positioning information and the inertial positioning information, the method executes step S120 to calculate the observed quantity of the kalman filter according to the satellite positioning information, the map positioning information and the inertial positioning information, wherein the kalman filter is constructed based on an error equation of inertial navigation.
As a possible implementation manner, the present solution may calculate the observed quantity of the kalman filter by the following manner, as shown in fig. 2, including:
step S200: a first position difference of the satellite positioning information and the map positioning information is calculated.
Step S210: judging whether the first position difference value is smaller than a first preset threshold value, if so, turning to step S220; if not, go to step S300.
Step S220: and selecting positioning information with smaller positioning nominal precision from the satellite positioning information and the map positioning information, calculating a second position difference value by using the positioning information and the inertial positioning information, and taking the second position difference value as an observed quantity.
In step S200, the foregoing description indicates that the satellite positioning information includes satellite positioning position information, and the map positioning information includes map positioning position information.
On the basis of the first position difference, the method determines whether the first position difference is smaller than a first preset threshold, where the first preset threshold may be empirically set, specifically, the first preset threshold may be determined comprehensively according to the current nominal accuracy of the GNSS and the current nominal accuracy of the map matching technique, and if the first position difference is smaller than the first preset threshold, step S220 is executed.
In step S220, the present embodiment selects positioning information with smaller nominal positioning accuracy from the satellite positioning information and the map positioning information, where the smaller nominal positioning accuracy indicates that the positioning information is more accurate, so that the selected positioning information with smaller nominal positioning accuracy is the more accurate positioning information.
After the positioning information with smaller nominal precision is selected, calculating the difference value of the position information between the positioning information with smaller nominal precision and the inertial positioning information to obtain a second position difference value, for example, when the nominal precision of the satellite positioning information is smaller, calculating the difference value of the position information between the satellite positioning information and the inertial positioning information to obtain the second position difference value; and when the nominal accuracy of the map positioning information is smaller, calculating the difference value of the position information of the map positioning information and the relation positioning information, thereby obtaining a second position difference value, and taking the second difference value as an observed quantity.
After determining that the first position difference is not less than the first preset threshold in step S210, the foregoing description goes to step S300, as a possible implementation manner, as shown in fig. 3, in the case that the first position difference is not less than the first preset threshold, the scheme may execute the following steps to calculate the observed quantity, including:
step S300: and acquiring satellite displacement increment, map displacement increment and inertial displacement increment.
Step S310: a first displacement difference between the satellite displacement increment and the inertial displacement increment and a second displacement difference between the map displacement increment and the inertial displacement increment are calculated.
Step S320: and calculating the observed quantity of the Kalman filter according to the first displacement difference value and the second displacement difference value.
In step S300, the displacement increment represents the displacement difference between the positioning positions at the starting time point and the ending time point of a time period, and the satellite displacement increment, the map displacement increment and the inertial displacement increment represent the displacement difference between the positioning positions of the satellite, the map positioning and the inertial positioning at the starting time point and the ending time point of the same time period. The displacement difference value can be obtained through calculation of the position information of the starting time point and the position information of the ending time point.
In step S310, the present embodiment calculates a displacement difference between the satellite displacement increment and the inertial displacement increment to obtain a first displacement difference, and calculates a displacement difference between the map displacement increment and the inertial displacement increment to obtain a second displacement difference, so as to execute step S320 to calculate an observed quantity of the kalman filter according to the first displacement difference and the second displacement difference.
As a possible implementation manner, as shown in fig. 4, step S320 calculates the observed quantity of the kalman filter according to the first displacement difference value and the second displacement difference value, which may be calculated by:
Step S400: respectively judging whether the first displacement difference value and the second displacement difference value are smaller than a second preset threshold value, and if the first position difference value and the second position difference value are smaller than the second preset threshold value, turning to step S410; if one of the first position difference value and the second position difference value is smaller than the second preset threshold value, go to step S420; if both the first position difference and the second position difference are not smaller than the second preset threshold, the process goes to step S430.
Step S410: and selecting positioning information with smaller positioning nominal precision from the satellite positioning information and the map positioning information, calculating a third position difference value by using the positioning information and the inertial positioning information, and taking the third position difference value as an observed quantity.
Step S420: and selecting positioning information smaller than a preset second threshold value from the satellite positioning information and the map positioning information, calculating a third position difference value from the inertial positioning information, and taking the third position difference value as an observed quantity.
Step S430: the original observed quantity of the Kalman filter is taken as the observed quantity.
In the above steps, the method respectively determines whether the first displacement difference is smaller than a second preset threshold and whether the second displacement difference is smaller than the second preset threshold, if both are smaller than the second preset threshold, then the third position difference is calculated by selecting positioning information with smaller positioning nominal precision and inertial positioning information from the satellite positioning information and the map positioning information, so that the calculated third position difference is taken as an observed quantity, wherein the mode of calculating the third position difference is consistent with the mode of calculating the second position difference, and is not repeated herein. If only one of the first displacement difference value and the second displacement difference value is smaller than a second preset threshold value, the position difference value is calculated by selecting positioning information smaller than the second preset threshold value and inertial positioning information from the satellite positioning information and the map positioning information, so that a third position difference value is obtained. If the first displacement difference value and the second displacement difference value are smaller than the second preset threshold value, taking the original observed quantity of the Kalman filter as the observed quantity, namely, not carrying out measurement updating on the Kalman filter.
After the observed quantity is calculated in the above manner, step S130 is executed to perform measurement update on the kalman filter according to the observed quantity, so as to obtain update error information output by the kalman filter, where the manner of performing measurement update on the kalman filter by using the observed value may be any currently existing manner, and is not limited in the present application.
After obtaining the updated error information output by the kalman filter, the scheme executes step S140 to correct the inertial positioning information obtained by inertial navigation positioning according to the updated error information, thereby obtaining corrected positioning information. Specifically, the method for correcting the inertial positioning information in the scheme can be to take the updated error information as the optimal error of the inertial navigation, so as to perform inertial navigation positioning, and obtain corrected positioning information.
According to the navigation positioning method, under the condition that a global satellite positioning technology is available, satellite positioning information of the global satellite positioning technology for carrier positioning, map positioning information of the map matching positioning technology for carrier positioning and inertial positioning information of the inertial navigation technology for carrier positioning are obtained, then observed quantity of the Kalman filter is calculated according to the satellite positioning information, the map positioning information and the inertial positioning information, so that measurement and update are carried out on the Kalman filter according to the observed quantity, update error information output by the Kalman filter is obtained, and finally the inertial positioning information is corrected according to the update error information output by the Kalman filter, so that corrected positioning information is obtained. The Kalman filter is measured and updated by combining the global satellite positioning technology, the map matching technology and the inertial navigation technology, so that the Kalman filter outputs updated optimal error information.
In an optional implementation manner of this embodiment, in a case where the global positioning technology is determined to be currently unavailable in the execution of step S100, the present solution may implement navigation positioning, as shown in fig. 5, including:
step S500: and acquiring map positioning information positioned by a map matching positioning technology and inertial positioning information positioned by an inertial navigation technology.
Step S510: and calculating a fourth position difference value of the map positioning information and the inertial positioning information.
Step S520: and judging whether the fourth position difference value is smaller than a third preset threshold value, if so, going to step S530.
Step S530: and carrying out measurement updating on the Kalman filter according to the fourth position difference value to obtain second updating error information output by the Kalman filter.
Step S540: and correcting the inertial positioning information according to the second updating error information to obtain corrected positioning information.
In the above step, because the global satellite positioning technology is not currently available, the method obtains map positioning information and inertial positioning information, then performs step S510 to calculate a position difference between the map positioning information and the inertial positioning information, thereby obtaining a fourth position difference, then determines whether the fourth position difference is smaller than a third preset threshold, and the third preset threshold is comprehensively set based on the nominal precision of the map matching technology and the nominal precision of inertial navigation, so that on the basis that the fourth position difference is smaller than the third preset threshold, the fourth position difference is used as an observation value of a kalman filter, the kalman filter is measured and updated to obtain second updated error information output by the kalman filter, and further the inertial positioning information is corrected according to the second updated error information, thereby obtaining corrected positioning information; and if the fourth position difference value is not smaller than the third preset threshold value, not carrying out measurement updating on the Kalman filter.
In an alternative implementation manner of the present embodiment, in addition to the accurate navigation positioning manner obtained by adopting the manners from step S120 to step S130, after obtaining the satellite positioning information, the map positioning information and the inertial positioning information in step S110, as shown in fig. 6, the method may further obtain the accurate navigation positioning manner by the following manners:
step S600: a first distance between the satellite positioning information and the satellite, a second distance between the map positioning information and the satellite, and a third distance between the inertial positioning information and the satellite are calculated.
Step S610: a first distance difference between the second distance and the first distance and a second distance difference between the third distance and the first distance are calculated.
Step S620: judging whether the first distance difference and the second distance difference are smaller than a fourth preset threshold value or not respectively, and if the first distance difference and the second distance difference are smaller than the fourth preset threshold value, turning to step S630; if one of the first distance difference and the second distance difference is smaller than the fourth preset threshold, go to step S640; if both the first distance difference and the second distance difference are not smaller than the fourth preset threshold, go to step S650.
Step S630: and selecting any one of the first distance difference and the second distance difference as an observed quantity, measuring and updating the second Kalman filter to obtain third updating error information output by the second Kalman filter, and correcting the inertial positioning information according to the third updating error information to obtain corrected positioning information.
Step S640: and taking the distance difference smaller than the fourth preset threshold value as an observed quantity, carrying out measurement updating on the second Kalman filter to obtain third updating error information output by the second Kalman filter, and correcting the inertial positioning information according to the third updating error information to obtain corrected positioning information.
Step S650: and taking the original inertial positioning information as final positioning information.
In the above steps, the present solution calculates a first distance between a position in the satellite positioning information and a satellite position, a second distance between a position in the map positioning information and a satellite position, and a third distance between a position in the inertial positioning information and a satellite position, on the basis of which the present solution calculates a difference between the second distance and the first distance, thereby obtaining a first distance difference; and calculating a difference between the third distance and the first distance to obtain a second distance difference.
On the basis of obtaining the first distance difference and the second distance difference, the method judges whether the first distance difference and the second distance difference are smaller than a fourth preset threshold value or not respectively, so that on the basis that the first distance difference and the second distance difference are smaller than the fourth preset threshold value, any one of the first distance difference and the second distance difference is selected as an observed quantity, the second Kalman filter is measured and updated, third updating error information output by the second Kalman filter is obtained, inertial positioning information is corrected according to the third updating error information, and corrected positioning information is obtained.
And on the basis that one of the first distance difference and the second distance difference is smaller than a fourth preset threshold value, taking the distance difference smaller than the fourth preset threshold value as an observed quantity, carrying out measurement updating on the second Kalman filter to obtain third updating error information output by the second Kalman filter, and correcting the inertial positioning information according to the third updating error information to obtain corrected positioning information.
And directly acquiring inertial positioning information as final positioning information on the basis that the first distance difference and the second distance difference are not smaller than a fourth preset threshold value.
According to the embodiment of the design, the abnormal value of the global satellite positioning technology positioning can be identified and isolated by the mode of calculating and judging the difference value based on the inertial positioning and the distance between the map positioning and the satellite and the distance between the global satellite positioning technology positioning position and the satellite, so that high-precision satellite positioning information is guaranteed, the calculated observed value is more accurate, the third updating error information output by the second Kalman filter is more accurate, and the corrected inertial positioning information is more accurate.
In an optional implementation manner of this embodiment, in addition to the foregoing precise navigation positioning method, as shown in fig. 7, the present solution may further perform the following steps to implement precise navigation positioning, including:
step S700: in the case where global satellite positioning technology is currently available, positioning information of inertial navigation is acquired.
Step S710: and updating the signal tracking loop of the global positioning technology according to the current speed and the moving direction of the inertial navigation carrier and the current speed and the direction of the satellite to obtain an updated satellite signal tracking loop.
Step S720: and capturing and tracking satellite navigation positioning signals by using the updated satellite signal tracking loop, analyzing satellite navigation positioning observables to position the carrier, and obtaining positioning information of the carrier.
In step S700, in the case that the GNSS is currently available, the present solution may obtain the positioning information of inertial navigation, which includes the current speed and the movement direction of the inertial navigation carrier, and the present solution may obtain the current speed and the movement direction of the satellite because the global satellite positioning technology is currently available.
The carrier is in the condition of moving, the signal tracking bandwidth of global positioning technology is larger than that of carrier in the condition of not moving, and the larger bandwidth makes the satellite signal noise that global positioning technology tracks increase, dynamic property reduce, sensitivity reduce, thereby lead to navigation positioning performance to decrease, and the above-mentioned current speed and motion direction that obtains the carrier and current speed and motion direction of satellite, therefore, this scheme can learn carrier and satellite's relative motion condition based on carrier's current speed and motion direction and satellite's current speed and motion direction, thereby eliminate carrier's motion to the influence that the signal tracking bandwidth brought of satellite brings, namely according to inertial navigation carrier's current speed and motion direction and satellite's current speed and direction reduce the bandwidth requirement of signal tracking loop, obtain the satellite signal tracking loop after the update, make use the satellite signal tracking loop after the update to catch and track satellite navigation positioning signal, satellite navigation positioning observation is located the carrier, and the positioning information of carrier that obtains is more accurate, and then promote global positioning technology to satellite signal tracking performance, and further promote navigation positioning performance.
In an optional implementation manner of this embodiment, the navigation positioning method designed in this embodiment may further have an initial state that how to obtain positioning information of the carrier, that is, the initial position, the initial speed, and the initial posture (initial direction) of the carrier when the user just opens navigation.
Specifically, under the condition that the global satellite positioning technology is available, the method acquires the satellite positioning position and the map matching positioning position, calculates whether the difference value between the satellite positioning position and the map matching positioning position is smaller than a set threshold value, and takes the position with small nominal precision as the initial position of the carrier if the difference value is smaller than the set threshold value; and if the positions are larger than the set threshold value, re-acquiring the satellite positioning position and the map matching positioning position. The proposal takes the speed obtained by global satellite positioning as the initial speed of the carrier; the scheme can take the dual-antenna heading or the magnetic heading as the initial heading of the carrier.
Under the condition that the global satellite positioning technology is unavailable, the scheme can be used for map matching positioning positions as initial positions of carriers, and taking a double-antenna course or a magnetic course as initial courses of the carriers; the map position displacement speed is taken as an initial speed.
Fig. 8 shows a schematic block diagram of a navigation and positioning device according to the present application, and it should be understood that the device corresponds to the embodiment of the method performed in fig. 1 to 7, and is capable of performing the steps involved in the foregoing method, and specific functions of the device may be referred to in the foregoing description, and detailed descriptions thereof are omitted herein as appropriate to avoid redundancy. The device includes at least one software functional module that can be stored in memory in the form of software or firmware (firmware) or cured in an Operating System (OS) of the device. Specifically, the device comprises: a judging module 800, configured to judge whether a global satellite positioning technology is currently available; the acquiring module 810 is configured to acquire satellite positioning information of the global satellite positioning technology for carrier positioning, map positioning information of the map matching positioning technology for carrier positioning, and inertial positioning information of the inertial navigation technology for carrier positioning after the judging module judges that the global satellite positioning technology is currently available; the calculation module 820 is configured to calculate an observed quantity of a kalman filter according to satellite positioning information, map positioning information and inertial positioning information, where the kalman filter is constructed based on an error equation of inertial navigation; the measurement updating module 830 is further configured to perform measurement updating on the kalman filter according to an observed quantity, so as to obtain updated error information output by the kalman filter; and the correction module 840 is configured to correct the inertial positioning information according to the updated error information output by the kalman filter, so as to obtain corrected positioning information.
According to the navigation positioning device, under the condition that a global satellite positioning technology is available, satellite positioning information of the global satellite positioning technology for carrier positioning, map positioning information of the map matching positioning technology for carrier positioning and inertial positioning information of the inertial navigation technology for carrier positioning are obtained, then observed quantity of the Kalman filter is calculated according to the satellite positioning information, the map positioning information and the inertial positioning information, so that measurement and update are carried out on the Kalman filter according to the observed quantity, update error information output by the Kalman filter is obtained, and finally the inertial positioning information is corrected according to the update error information output by the Kalman filter, so that corrected positioning information is obtained. The Kalman filter is measured and updated by combining the global satellite positioning technology, the map matching technology and the inertial navigation technology, so that the Kalman filter outputs updated optimal error information.
In an alternative implementation manner of the present embodiment, the calculating module 820 is specifically configured to calculate a first position difference value between the satellite positioning information and the map positioning information; judging whether the first position difference value is smaller than a first preset threshold value or not; if yes, positioning information with smaller positioning nominal precision and inertial positioning information are selected from the satellite positioning information and the map positioning information to calculate a second position difference value, and the second position difference value is used as an observed quantity.
In an alternative implementation manner of the present embodiment, the calculating module 820 is further specifically configured to obtain a satellite displacement increment, a map displacement increment, and an inertial displacement increment if the first position difference is greater than a preset threshold, where the displacement increment represents a displacement difference between a positioning position at a start time point and a positioning position at a stop time point in a preset time period; calculating a first displacement difference value between the satellite displacement increment and the inertial displacement increment and a second displacement difference value between the map displacement increment and the inertial displacement; and calculating the observed quantity of the Kalman filter according to the first displacement difference value and the second displacement difference value.
In an optional implementation manner of this embodiment, the calculating module 820 is further specifically configured to determine whether the first displacement difference value and the second displacement difference value are smaller than a second preset threshold value, respectively; if the first position difference value and the second position difference value are smaller than a second preset threshold value, positioning information with smaller positioning nominal precision and inertial positioning information are selected from the satellite positioning information and the map positioning information to calculate a third position difference value, and the third position difference value is used as an observed quantity; if one of the first position difference value and the second position difference value is smaller than a second preset threshold value, selecting positioning information smaller than the second preset threshold value from the satellite positioning information and the map positioning information and inertial positioning information to calculate a third position difference value, and taking the third position difference value as an observed quantity; if the first position difference value and the second position difference value are not smaller than the second preset threshold value, taking the original observed quantity of the Kalman filter as the observed quantity.
In an optional implementation manner of this embodiment, the obtaining module 810 is further configured to obtain map positioning information located by a map matching positioning technology and inertial positioning information located by an inertial navigation technology after the global satellite positioning technology is unavailable; the calculating module 820 is further configured to calculate a fourth position difference between the map positioning information and the inertial positioning information; the judging module 800 is further configured to judge whether the fourth position difference is smaller than a third preset threshold; the measurement updating module 830 is further configured to perform measurement updating on the kalman filter according to the fourth position difference value after the judging module judges that the fourth position difference value is smaller than the third preset threshold value, so as to obtain second update error information output by the kalman filter; the correction module 840 is further configured to correct the inertial positioning information according to the second update error information output by the kalman filter, to obtain corrected positioning information.
In an optional implementation manner of this embodiment, the obtaining module 810 is further configured to obtain positioning information of inertial navigation, where global satellite positioning technology is currently available, where the positioning information includes a current speed and a movement direction of the inertial navigation carrier; the updating module 850 is configured to perform auxiliary updating on the signal tracking loop of the global positioning technology according to the current speed and the motion direction of the inertial navigation carrier and the current speed and the direction of the satellite, so as to obtain better satellite signal tracking performance; the positioning module 860 is configured to use the global positioning technology to position the carrier by using the updated loop tracking satellite signal, so as to obtain positioning information of the carrier.
As shown in fig. 9, the present application provides an electronic apparatus 9 including: processor 901 and memory 902, processor 901 and memory 902 being interconnected and in communication with each other by communication bus 903 and/or other form of connection mechanism (not shown), memory 902 storing a computer program executable by processor 901, which when run by a computing device, processor 901 executes the computer program to perform the methods performed by the external terminal in any of the alternative implementations, such as steps S100 through S140: judging whether the global satellite positioning technology is currently available; if the information is available, acquiring satellite positioning information of a global satellite positioning technology for positioning the carrier, map positioning information of a map matching positioning technology for positioning the carrier and inertial positioning information of an inertial navigation technology for positioning the carrier; calculating the observed quantity of the Kalman filter according to the satellite positioning information, the map positioning information and the inertial positioning information; measuring and updating the Kalman filter according to the observed quantity to obtain updating error information output by the Kalman filter; and correcting the inertial positioning information according to the updated error information output by the Kalman filter to obtain corrected positioning information.
The present application provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs a method according to any of the preceding alternative implementations.
The storage medium may be implemented by any type of volatile or nonvolatile Memory device or combination thereof, such as static random access Memory (Static Random Access Memory, SRAM), electrically erasable Programmable Read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), erasable Programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.
The present application provides a computer program product which, when run on a computer, causes the computer to perform the method in any of the alternative implementations.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
Further, the units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Furthermore, functional modules in various embodiments of the present application may be integrated together to form a single portion, or each module may exist alone, or two or more modules may be integrated to form a single portion.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (8)

1. A method of navigational positioning, the method comprising:
judging whether the global satellite positioning technology is currently available;
if yes, acquiring satellite positioning information of a global satellite positioning technology for positioning a carrier, map positioning information of a map matching positioning technology for positioning the carrier and inertial positioning information of an inertial navigation technology for positioning the carrier;
calculating the observed quantity of a Kalman filter according to the satellite positioning information, the map positioning information and the inertial positioning information, wherein the Kalman filter is constructed based on an error equation of inertial navigation;
measuring and updating the Kalman filter according to the observed quantity to obtain updating error information output by the Kalman filter; and
correcting the inertial positioning information according to the updated error information output by the Kalman filter to obtain corrected positioning information;
the calculating the observed quantity of the Kalman filter according to the satellite positioning information, the map positioning information and the inertial positioning information comprises the following steps:
calculating a first position difference value of the satellite positioning information and the map positioning information;
judging whether the first position difference value is smaller than a first preset threshold value or not;
If yes, positioning information with smaller positioning nominal precision and the inertial positioning information are selected from the satellite positioning information and the map positioning information to calculate a second position difference value, and the second position difference value is used as the observed quantity;
after the determining whether the first position difference is less than a first preset threshold, the method further includes:
if the first position difference value is larger than a first preset threshold value, acquiring a satellite displacement increment, a map displacement increment and an inertial displacement increment, wherein the displacement increment represents a displacement difference value of a positioning position at a starting time point and a stopping time point of a preset time period;
calculating a first displacement difference value between the satellite displacement increment and the inertial displacement increment and a second displacement difference value between the map displacement increment and the inertial displacement; and
and calculating the observed quantity of the Kalman filter according to the first displacement difference value and the second displacement difference value.
2. The method of claim 1, wherein said calculating an observed quantity of a kalman filter from said first and second displacement differences comprises:
respectively judging whether the first displacement difference value and the second displacement difference value are smaller than a second preset threshold value or not;
If the first position difference value and the second position difference value are smaller than a second preset threshold value, positioning information with smaller positioning nominal precision and the inertial positioning information are selected from satellite positioning information and map positioning information to calculate a third position difference value, and the third position difference value is used as the observed quantity;
and if one of the first position difference value and the second position difference value is smaller than a second preset threshold value, selecting positioning information smaller than the second preset threshold value from satellite positioning information and map positioning information and the inertial positioning information to calculate a third position difference value, and taking the third position difference value as the observed quantity.
3. The method of claim 1, wherein after said determining whether global satellite positioning technology is currently available, the method further comprises:
if the global satellite positioning technology is unavailable, map positioning information positioned by a map matching positioning technology and inertial positioning information positioned by an inertial navigation technology are acquired;
calculating a fourth position difference value of the map positioning information and the inertial positioning information;
judging whether the fourth position difference value is smaller than a third preset threshold value or not;
if yes, measuring and updating the Kalman filter according to the fourth position difference value to obtain second updating error information output by the Kalman filter;
And correcting the inertial positioning information according to the second updating error information output by the Kalman filter to obtain corrected positioning information.
4. The method of claim 1, wherein after the acquiring satellite positioning information for the global satellite positioning technology to position the carrier, map positioning information for the map matching positioning technology to position the carrier, and inertial positioning information for the inertial navigation technology to position the carrier, the method further comprises:
calculating a first distance between the satellite positioning information and the satellite, a second distance between the map positioning information and the satellite, and a third distance between the inertial positioning information and the satellite;
calculating a first distance difference between the second distance and the first distance and a second distance difference between the third distance and the first distance;
respectively judging whether the first distance difference and the second distance difference are smaller than a fourth preset threshold value or not;
if the first distance difference and the second distance difference are smaller than a fourth preset threshold, selecting any one of the first distance difference and the second distance difference as an observed quantity, performing measurement update on a second Kalman filter to obtain third update error information output by the second Kalman filter, and correcting the inertial positioning information according to the third update error information to obtain corrected positioning information, wherein the second Kalman filter is formed based on an error equation of inertial navigation and clock errors of global satellite positioning;
If one of the first distance difference and the second distance difference is smaller than a fourth preset threshold, taking the distance difference smaller than the fourth preset threshold as an observed quantity, measuring and updating a second Kalman filter to obtain third updating error information output by the second Kalman filter, and correcting the inertial positioning information according to the third updating error information to obtain corrected positioning information;
and if the first distance difference and the second distance difference are not smaller than a fourth preset threshold value, taking the inertial positioning information as final positioning information.
5. The method according to claim 1, wherein the method further comprises:
acquiring positioning information of inertial navigation under the condition that a global satellite positioning technology is currently available, wherein the positioning information comprises the current speed and the movement direction of an inertial navigation carrier;
updating a satellite signal tracking loop of the global positioning technology according to the current speed and the motion direction of the inertial navigation carrier and the current speed and the direction of a satellite to obtain an updated satellite signal tracking loop;
and utilizing the updated satellite signal tracking loop to capture and track satellite navigation positioning signals, analyzing satellite navigation positioning observables to position the carrier, and obtaining positioning information of the carrier.
6. A navigational positioning apparatus, said apparatus comprising:
the judging module is used for judging whether the global satellite positioning technology is available currently;
the acquisition module is used for acquiring satellite positioning information of the global satellite positioning technology for carrier positioning, map positioning information of the map matching positioning technology for carrier positioning and inertial positioning information of the inertial navigation technology for carrier positioning after the judging module judges that the global satellite positioning technology is currently available;
the calculation module is used for calculating the observed quantity of a Kalman filter according to the satellite positioning information, the map positioning information and the inertial positioning information, and the Kalman filter is constructed based on an error equation of inertial navigation;
the measurement updating module is also used for carrying out measurement updating on the Kalman filter according to the observed quantity to obtain updating error information output by the Kalman filter; and
the correction module is used for correcting the inertial positioning information according to the update error information output by the Kalman filter to obtain corrected positioning information;
the computing module is specifically used for computing a first position difference value of satellite positioning information and map positioning information; judging whether the first position difference value is smaller than a first preset threshold value or not; if yes, positioning information with smaller positioning nominal precision and inertial positioning information are selected from the satellite positioning information and the map positioning information to calculate a second position difference value, and the second position difference value is used as an observed quantity;
The calculation module is further specifically configured to obtain a satellite displacement increment, a map displacement increment, and an inertial displacement increment if the first position difference is greater than a preset threshold, where the displacement increment represents a displacement difference between a positioning position at a start time point and a positioning position at a stop time point in a preset time period; calculating a first displacement difference value between the satellite displacement increment and the inertial displacement increment and a second displacement difference value between the map displacement increment and the inertial displacement; and calculating the observed quantity of the Kalman filter according to the first displacement difference value and the second displacement difference value.
7. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the method of any one of claims 1 to 5 when executing the computer program.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of any one of claims 1 to 5.
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