CN116224224A - Ground multipoint positioning and inertial navigation fusion positioning method based on positioning result accuracy - Google Patents

Ground multipoint positioning and inertial navigation fusion positioning method based on positioning result accuracy Download PDF

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CN116224224A
CN116224224A CN202310266864.7A CN202310266864A CN116224224A CN 116224224 A CN116224224 A CN 116224224A CN 202310266864 A CN202310266864 A CN 202310266864A CN 116224224 A CN116224224 A CN 116224224A
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positioning
carrier
base stations
mult
inertial navigation
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陆昶宇
刘坤
罗云
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Beijing Aerospace Communications Technology Co ltd
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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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction
    • 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
    • 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
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/0218—Multipath in signal reception
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • G01S5/0268—Hybrid positioning by deriving positions from different combinations of signals or of estimated positions in a single positioning system
    • G01S5/02685—Hybrid positioning by deriving positions from different combinations of signals or of estimated positions in a single positioning system involving dead reckoning based on radio wave measurements
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • 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)
  • Navigation (AREA)

Abstract

The invention provides a ground multipoint positioning and inertial navigation fusion positioning method based on positioning result accuracy, wherein an accelerometer and a gyroscope are integrated on a target carrier to be positioned, at least 4 base stations for multipoint positioning are deployed on the carrier Zhou Weibu, and then a ground multipoint positioning coordinate value of the carrier is obtained through TOF algorithm, kalman filtering and DBSCAN filtering. And simultaneously, the carrier measures the acceleration and the angular acceleration of the carrier in an inertial reference system through an accelerometer and a gyroscope, obtains the position information of the carrier after twice integration, and then converts the position information into a multi-point positioning coordinate system to obtain the inertial navigation positioning coordinate value. Finally, calculating the multi-point positioning resultAccuracy P of (2) mult Obtaining a final positioning result l=p mult L mult +(1‑P mult )L navi . The invention can be suitable for application occasions with at least 4 signal receiving devices and the carrier with the inertial navigation function, and ensures the instantaneity, stability and accuracy of the positioning result.

Description

Ground multipoint positioning and inertial navigation fusion positioning method based on positioning result accuracy
Technical Field
The invention relates to a positioning method, in particular to a positioning method based on ground multipoint positioning and inertial navigation fusion of positioning result accuracy.
Background
The terrestrial multipoint positioning technique utilizes the time of signal transmission between a target signal transmitting device and a plurality of terrestrial receivers to achieve efficient positioning of the target. In principle, the multi-point positioning technology does not measure the signal strength, but measures the transmission time of a radio signal between a receiver and a target transmitting device, namely the time of arrival (TOA), but when an obstruction exists between the receiver and the transmitting device, the TOA value has a certain error and noise interference, so that the positioning result becomes unstable and fluctuates greatly, and the accuracy of positioning can be further improved by adding other auxiliary positioning.
An inertial navigation system, also called inertial reference system, is an autonomous navigation system that does not depend on external information nor radiate energy to the outside (as in radio navigation). The inertial navigation system belongs to a dead reckoning navigation mode, namely, the position of the next point is calculated from the position of a known point according to the continuously measured course angle and speed of the moving body, so that the current position of the moving body can be continuously measured. The gyroscope in the inertial navigation system is used for forming a navigation coordinate system, so that the measuring axis of the accelerometer is stabilized in the coordinate system, and a course and an attitude angle are given; the accelerometer is used for measuring the acceleration of the moving body, the speed is obtained through one integration of time, and the distance is obtained through one integration of time. Since navigation information is integrated to generate positioning errors which increase with time and have poor long-term accuracy, inertial navigation is generally used as an auxiliary positioning.
Disclosure of Invention
The invention aims to provide a ground multi-point positioning and inertial navigation fusion positioning method based on positioning result accuracy, which is suitable for multi-point positioning of a positioning carrier with an inertial navigation function and more than 3 signal receiving devices, and can better solve the problems of unstable positioning result and inaccurate positioning caused by noise interference.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
the method for positioning the target carrier to be positioned integrates an accelerometer and a gyroscope and has the function of inertial navigation, N+1 base stations for multipoint positioning are deployed on the carrier Zhou Weibu, N is a natural number not less than 3, N+1 time-of-arrival values are obtained by sending radio signals to the base stations, meanwhile, the carrier measures the acceleration and the angular acceleration of the carrier in an inertial reference system through the accelerometer and the gyroscope, integrates the acceleration and the angular acceleration once for time to obtain the speed and the angular velocity of the moving carrier, then integrates the position information of the tag twice, and then transforms the position information to the ground multipoint positioning coordinate system to obtain the inertial navigation positioning coordinate value. Then the arrival time from the base station to the carrier and the inertial navigation positioning coordinate values are sent to a central control engine, and the method is characterized in that: a program according to an algorithm obtained by the following steps is run in the central control engine,
s01: multiplying the arrival time values of the n+1 base stations to the carriers by the propagation speed c of the signals to obtain the distances D from the n+1 carriers to the base stations for positioning i Wherein i is any natural number from 1 to n+1; simultaneously recording inertial navigation positioning coordinate value L navi ；
S02: 4 base stations for multipoint positioning are selected from the N+1 base stations for combination, and the coordinates of the c group of base stations are recorded as A ci Wherein c is any natural number from 1 to M, i is any natural number from 1 to 4, and the calculation formula of the combination quantity M is as follows:
Figure BDA0004133279100000031
calculating base station coordinates A c1 ～A c4 The polygonal type is formed, if the polygonal type is a convex quadrilateral, the effective base station combination quantity Q is obtained, wherein Q is less than or equal to M, and the effective v th group base station coordinate is A vj The distance from the carrier to the base station is D vj Wherein v is any one of natural numbers 1 to Q, and j is any one of natural numbers 1 to 4;
s03: d is obtained v1 ～D v4 Obtaining an average value D of the distances of the base stations in the combination of the carrier to the v group v The calculation formula is as follows:
Figure BDA0004133279100000032
then find the smallest D v Let D k ＝(D v ) min Then
Figure BDA0004133279100000033
Then the kth group of base stations is combined into the optimal combination of multi-point positioning, and the coordinates of the base stations are A kj {X kj ,Y kj ,Z kj Carrier to base station distance D kj Wherein v is any one of natural numbers 1 to Q, k is a natural number determined by one of 1 to Q, and j is any one of natural numbers 1 to 4;
s04: taking the base station coordinates A k1 ～A k4 And the distance D from the carrier to the base station k1 ～D k4 The position coordinate of the carrier to be optimized is calculated by adopting a TOF algorithm, and then the final coordinate L of the carrier in a multi-point positioning coordinate system is obtained after noise is removed by Kalman filtering and DBSCAN filtering mult If the TOF algorithm does not calculate the positioning coordinates, a specific invalid coordinate mark L is output invalid ；
S05: using the average distance D from the carrier to the base station k Distance D forming diagonal with 4 base stations Ak13 、D Ak24 Quarter of the sum D Ak The comparison is performed to obtain the accuracy P of the multi-point positioning result mult The calculation formula is as follows:
Figure BDA0004133279100000041
Figure BDA0004133279100000042
Figure BDA0004133279100000043
Figure BDA0004133279100000044
from the formula, it can be seen that 0.ltoreq.P mult Not more than 1, and accords with the description of accuracy;
s05: finally, the accuracy P of the multi-point positioning result is passed mult Performing multipoint positioning coordinates L mult And inertial navigation coordinates L navi To obtain a final positioning result L end The calculation formula is as follows:
L end ＝P mult L mult +(1-P mult )L navi (8)
as preferable: the central control engine solves the positioning result of the multi-point positioning system by selecting the optimal 4 base station combinations.
As preferable: the central control engine optimizes the ground multipoint positioning result through a Kalman filtering algorithm and a DBSCAN algorithm.
As preferable: the central control engine calculates the accuracy of the multi-point positioning result by the base station diagonal distance and the carrier-to-base station distance that make up the convex quadrilateral.
The invention has the beneficial effects that:
(1) The error increase caused by a plurality of TOAs is solved, and the central control engine solves the positioning result of the multi-point positioning system by selecting the optimal 4 base station combinations.
(2) The interference of noise on the positioning result is reduced, and the central control engine optimizes the ground multipoint positioning result through a Kalman filtering algorithm and a DBSCAN algorithm.
(3) The final positioning result is calculated more accurately, and the central control engine calculates the accuracy of the multi-point positioning result through the diagonal distance of the base station and the distance from the carrier to the base station which form the convex quadrangle.
Detailed Description
In order to make the above objects, technical schemes and advantageous effects clearer and more clear, the present invention is specifically described below with reference to examples.
Example 1
A ground multipoint positioning system is provided, which comprises a base station (signal receiving device), a carrier (signal transmitting device) with inertial navigation function and a central control engine, wherein the carrier is used for being carried by an object to be positioned in an actual scene. The number of base stations in the system should be not less than 3.
The method for positioning the target carrier to be positioned integrates an accelerometer and a gyroscope and has the function of inertial navigation, N+1 base stations for multipoint positioning are deployed on the carrier Zhou Weibu, N is a natural number not less than 3, N+1 time-of-arrival values are obtained by sending radio signals to the base stations, meanwhile, the carrier measures the acceleration and the angular acceleration of the carrier in an inertial reference system through the accelerometer and the gyroscope, integrates the acceleration and the angular acceleration once for time to obtain the speed and the angular velocity of the moving carrier, then integrates the position information of the tag twice, and then transforms the position information to the ground multipoint positioning coordinate system to obtain the inertial navigation positioning coordinate value. Then the arrival time from the base station to the carrier and the inertial navigation positioning coordinate values are sent to a central control engine, and the method is characterized in that: a program according to an algorithm obtained by the following steps is run in the central control engine,
s01: multiplying the arrival time values of the n+1 base stations to the carriers by the propagation speed c of the signals to obtain the distances D from the n+1 carriers to the base stations for positioning i Wherein i is any natural number from 1 to n+1; simultaneously recording inertial navigation positioning coordinate value L navi ；
S02: 4 base stations for multipoint positioning are selected from the N+1 base stations for combination, and the coordinates of the c group of base stations are recorded as A ci Wherein c is any one of natural numbers 1 to M, i is any one of natural numbers 1 to 4, and a groupThe calculation formula of the sum M is as follows:
Figure BDA0004133279100000061
calculating base station coordinates A c1 ～A c4 The polygonal type is formed, if the polygonal type is a convex quadrilateral, the effective base station combination quantity Q is obtained, wherein Q is less than or equal to M, and the effective v th group base station coordinate is A vj The distance from the carrier to the base station is D vj Wherein v is any one of natural numbers 1 to Q, and j is any one of natural numbers 1 to 4;
s03: d is obtained v1 ～D v4 Obtaining an average value D of the distances of the base stations in the combination of the carrier to the v group v The calculation formula is as follows:
Figure BDA0004133279100000062
then find the smallest D v Let D k ＝(D v ) min Then
Figure BDA0004133279100000071
Then the kth group of base stations is combined into the optimal combination of multi-point positioning, and the coordinates of the base stations are A kj {X kj ,Y kj ,Z kj Carrier to base station distance D kj Wherein v is any one of natural numbers 1 to Q, k is a natural number determined by one of 1 to Q, and j is any one of natural numbers 1 to 4;
s04: taking the base station coordinates A k1 ～A k4 And the distance D from the carrier to the base station k1 ～D k4 The position coordinate of the carrier to be optimized is calculated by adopting a TOF algorithm, and then the final coordinate L of the carrier in a multi-point positioning coordinate system is obtained after noise is removed by Kalman filtering and DBSCAN filtering mult If the TOF algorithm does not calculate the positioning coordinates, outputting specific invalid coordinatesSign L invalid ；
S05: using the average distance D from the carrier to the base station k Distance D forming diagonal with 4 base stations Ak13 、D Ak24 Quarter of the sum D Ak The comparison is performed to obtain the accuracy P of the multi-point positioning result mult The calculation formula is as follows:
Figure BDA0004133279100000072
Figure BDA0004133279100000073
Figure BDA0004133279100000074
Figure BDA0004133279100000081
from the formula, it can be seen that 0.ltoreq.P mult Not more than 1, and accords with the description of accuracy;
s05: finally, the accuracy P of the multi-point positioning result is passed mult Performing multipoint positioning coordinates L mult And inertial navigation coordinates L navi To obtain a final positioning result L end The calculation formula is as follows:
L end ＝P mult L mult +(1-P mult )L navi (8)
comparative example 1
There is provided a universal terrestrial multipoint positioning system comprising a base station (signal receiving means), a carrier (signal transmitting means) for being carried by an object to be positioned in a real scene, and a central control engine. The number of base stations in the system should be not less than 3.
A general terrestrial multipoint positioning method, in which at least n+1 base stations for multipoint positioning are deployed on a target carrier Zhou Weibu to be positioned, where N is a natural number not less than 3, n+1 arrival time values are obtained by transmitting radio signals to the base stations, and then the arrival times of the n+1 base stations to the carrier are transmitted to a central control engine, characterized in that: a program according to an algorithm obtained by the following steps is run in the central control engine,
s01: multiplying the arrival time values of the n+1 base stations to the carriers by the propagation speed c of the signals to obtain the distances D from the n+1 carriers to the base stations for positioning i Wherein i is any natural number from 1 to n+1;
s02: 4 base stations for multipoint positioning are selected from the N+1 base stations for combination, and the coordinates of the c group of base stations are recorded as A ci The distance from the carrier to the base station is D ci Wherein c is any natural number from 1 to M, i is any natural number from 1 to 4, and the calculation formula of the combination quantity M is as follows:
Figure BDA0004133279100000091
s03: calculating the position coordinate L of the carrier when the c group base stations are combined by adopting TOF algorithm c If the positioning coordinates are not calculated, record L c ＝L 0 = (0, 0), find L c ＝L 0 R is more than or equal to 0 and less than or equal to M, the average value of the position coordinates of the carrier when all the base stations are combined is calculated, and the positioning coordinates L of the carrier are obtained, wherein the calculation formula is as follows:
Figure BDA0004133279100000092
as can be seen from comparison of the comparative example 1 and the example 1, the method for combining the ground multipoint positioning and inertial navigation based on the accuracy of the positioning result has the following advantages:
1) Because the carrier-to-base station distances are subject to errors, comparative example 1 uses all n+1 distances, whereas example 1 uses only the optimal 4 distances, there is less interference from the distance errors when calculating the terrestrial multi-point positioning coordinates.
2) Example 1 employed kalman filtering and DBSCAN filtering for the preliminary ground multi-point positioning results, whereas comparative example 1 did not, which increased the stationarity of the positioning coordinates and reduced the interference of noise on the positioning results.
3) In the embodiment 1, the accuracy of the ground multipoint positioning is integrated with the coordinates of inertial navigation, and the invalid or inaccurate ground multipoint positioning coordinates are corrected, while in the comparative example 1, the accuracy of the positioning coordinates is improved.
Finally, it is noted that the above-mentioned preferred embodiments are only intended to illustrate rather than limit the invention, and that, although the invention has been described in detail by means of the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention as defined by the appended claims.

Claims (4)

1. The method for positioning the target carrier to be positioned integrates an accelerometer and a gyroscope and has the function of inertial navigation, N+1 base stations for multipoint positioning are deployed on the carrier Zhou Weibu, N is a natural number not less than 3, N+1 time-of-arrival values are obtained by sending radio signals to the base stations, meanwhile, the carrier measures the acceleration and the angular acceleration of the carrier in an inertial reference system through the accelerometer and the gyroscope, integrates the acceleration and the angular acceleration once for time to obtain the speed and the angular velocity of the moving carrier, then integrates the position information of the tag twice, and then transforms the position information to the ground multipoint positioning coordinate system to obtain the inertial navigation positioning coordinate value. Then the arrival time from the base station to the carrier and the inertial navigation positioning coordinate values are sent to a central control engine, and the method is characterized in that: a program according to an algorithm obtained by the following steps is run in the central control engine,
s01: multiplying the arrival time values of the n+1 base stations to the carriers by the propagation speed c of the signals to obtain the distances d from the n+1 carriers to the base stations for positioning i Wherein i is 1 to the wholeAny natural number of n+1; simultaneously recording inertial navigation positioning coordinate value L navi ；
S02: 4 base stations for multipoint positioning are selected from the N+1 base stations for combination, and the coordinates of the c group of base stations are recorded as A ci Wherein c is any natural number from 1 to M, i is any natural number from 1 to 4, and the calculation formula of the combination quantity M is as follows:
Figure FDA0004133279090000011
calculating base station coordinates A c1 ～A c4 The polygonal type is formed, if the polygonal type is a convex quadrilateral, the effective base station combination quantity Q is obtained, wherein Q is less than or equal to M, and the effective v th group base station coordinate is A vj The distance from the carrier to the base station is D vj Wherein v is any one of natural numbers 1 to Q, and j is any one of natural numbers 1 to 4;
s03: d is obtained v1 ～D v4 Obtaining an average value D of the distances of the base stations in the combination of the carrier to the v group v The calculation formula is as follows:
Figure FDA0004133279090000021
then find the smallest D v Let D k ＝(D v ) min Then
Figure FDA0004133279090000022
Then the kth group of base stations is combined into the optimal combination of multi-point positioning, and the coordinates of the base stations are A kj {X kj ,Y kj ,Z kj Carrier to base station distance D kj Wherein v is any one of natural numbers 1 to Q, k is a natural number determined by one of 1 to Q, and j is any one of natural numbers 1 to 4;
s04: taking the baseStation coordinates A k1 ～A k4 And the distance D from the carrier to the base station k1 ～D k4 The position coordinate of the carrier to be optimized is calculated by adopting a TOF algorithm, and then the final coordinate L of the carrier in a multi-point positioning coordinate system is obtained after noise is removed by Kalman filtering and DBSCAN filtering mult If the TOF algorithm does not calculate the positioning coordinates, a specific invalid coordinate mark L is output invalid ；
S05: using the average distance D from the carrier to the base station k Distance D forming diagonal with 4 base stations Ak13 、D Ak24 Quarter of the sum D Ak The comparison is performed to obtain the accuracy P of the multi-point positioning result mult The calculation formula is as follows:
Figure FDA0004133279090000031
Figure FDA0004133279090000032
Figure FDA0004133279090000033
Figure FDA0004133279090000034
from the formula, it can be seen that 0.ltoreq.P mult Not more than 1, and accords with the description of accuracy;
s05: finally, the accuracy P of the multi-point positioning result is passed mult Performing multipoint positioning coordinates L mult And inertial navigation coordinates L navi To obtain a final positioning result L end The calculation formula is as follows:
L end ＝P mult L mult +(1-P mult )L navi (8)
2. the method for ground multipoint positioning and inertial navigation fusion positioning based on positioning result accuracy of claim 1, wherein the method comprises the following steps: the central control engine solves the positioning result of the multi-point positioning system by selecting the optimal 4 base station combinations.
3. The method for ground multipoint positioning and inertial navigation fusion positioning based on positioning result accuracy of claim 1, wherein the method comprises the following steps: the central control engine optimizes the ground multipoint positioning result through a Kalman filtering algorithm and a DBSCAN algorithm.
4. The method for ground multipoint positioning and inertial navigation fusion positioning based on positioning result accuracy of claim 1, wherein the method comprises the following steps: the central control engine calculates the accuracy of the multi-point positioning result by the base station diagonal distance and the carrier-to-base station distance that make up the convex quadrilateral.
CN202310266864.7A 2023-03-20 2023-03-20 Ground multipoint positioning and inertial navigation fusion positioning method based on positioning result accuracy Pending CN116224224A (en)

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