CN117970388B - A Beidou positioning data fusion method and system based on Hongmeng operating system - Google Patents
A Beidou positioning data fusion method and system based on Hongmeng operating system Download PDFInfo
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Abstract
The invention discloses a Beidou positioning data fusion method and system based on a hong and Monte operating system, wherein the method comprises the steps of obtaining coordinate measurement values of measured position points of a plurality of hong and Monte terminals at a plurality of times, wherein the coordinate measurement values comprise an abscissa measurement value, an ordinate measurement value, a historical average abscissa measurement value, a historical average ordinate measurement value, an abscissa true value of the measured position points and an ordinate true value of the measured position points; setting a position fusion model, fitting the position fusion model according to the coordinate measured value by a gradient descent method or a genetic algorithm, thereby completing the training of the position fusion model, and fusing Beidou positioning data of the newly acquired coordinate measured value by the trained position fusion model to enable the abscissa and ordinate in the fused Beidou positioning data to be closest to the abscissa true value and the ordinate true value of the measured position point.
Description
Technical Field
The invention belongs to the technical field of Beidou positioning data fusion, and particularly relates to a Beidou positioning data fusion method and system based on a hong Monte operating system.
Background
The Beidou system is a global satellite navigation system independently developed and built in China, and aims to provide high-precision and high-reliability positioning, navigation and time service. The Beidou system includes a series of satellites and ground facilities through which positioning and navigation services can be provided to global users.
The Beidou positioning data generally comprises satellite information received by a satellite signal receiver, such as information of the position, the speed, the time and the like of the satellite, and information of the position, the time and the like of the receiver. The data can be used in the application fields of positioning, navigation, map making, navigation and the like.
The accuracy and reliability of the Beidou positioning data depends on a variety of factors including the performance of the receiver, the surrounding environment, satellite distribution, etc. In general, the Beidou positioning data can provide positioning accuracy from meter level to centimeter level, and is suitable for different application scenes, such as vehicle navigation, ship positioning, logistics tracking and the like.
However, sometimes, the precision of the Beidou positioning data of a single terminal is insufficient, a plurality of terminals are required to correct the positions, and the precision of the current position correction is low, so that the requirement of accurate positioning cannot be met.
Disclosure of Invention
In order to solve the technical problems, the invention provides a Beidou positioning data fusion method based on a hong Mongolian operating system, which comprises the following steps:
Acquiring coordinate measurement values of measured position points of a plurality of hong-Mongolian terminals at a plurality of times, wherein the coordinate measurement values comprise an abscissa measurement value, an ordinate measurement value, a historical average abscissa measurement value, a historical average ordinate measurement value, an abscissa true value of the measured position points and an ordinate true value of the measured position points;
setting a position fusion model, fitting the position fusion model according to the coordinate measured value by a gradient descent method or a genetic algorithm, thereby completing the training of the position fusion model, and fusing Beidou positioning data of the newly acquired coordinate measured value by the trained position fusion model to enable the abscissa and ordinate in the fused Beidou positioning data to be closest to the abscissa true value and the ordinate true value of the measured position point.
Further, the position fusion model f (X, Y) includes:
Where N is the number of hong terminals, σ i is the error estimate for the i-th hong terminal, X is the abscissa actual value of the measured point, X i is the abscissa measured value of the measured point provided by the i-th hong terminal, Y is the ordinate actual value of the measured point, Y i is the ordinate measured value of the measured point provided by the i-th hong terminal, ω i is the reliability weight of the i-th hong terminal, Φ i is the environmental impact factor of the i-th hong terminal, and γ i is the time impact factor of the i-th hong terminal.
Further, the error estimation σ i of the ith hong-and-Monte terminal includes:
wherein x ij is the j-th abscissa measurement of the measured position point provided by the i-th hong-and-Monte terminal, Historical average abscissa measurement of the measured location point provided for the ith hong terminal, y ij is the jth ordinate measurement of the measured location point provided for the ith hong terminal,The historical average ordinate measurement value of the measured position point provided for the ith hong terminal, alpha is the historical measurement accuracy weight, and E i is the historical measurement accuracy of the measured position point of the ith hong terminal.
Further, the environmental impact factor Φ i of the ith hong terminal includes:
Wherein α 'is a change speed adjustment parameter of an environmental factor, β 1 is a current temperature weight, T i is a current temperature of a measured position point of an ith hong and Monte terminal, β 2 is a visibility weight, W' i is a visibility of the measured position point of the ith hong and Monte terminal, β 3 is a Terrain complexity weight, terrain (x i,yi) is a Terrain complexity of the measured position point of the ith hong and Monte terminal, and the characterization is performed by the elevation data of the measured position point.
Further, the reliability weight ω i of the ith hong and Monte terminal includes:
Where α″ is a first weight adjustment factor, β″ is a second weight adjustment factor, S i is a signal strength of a measured position point of an i-th hong Monte terminal, U i is a battery power of the measured position point of the i-th hong Monte terminal, when the battery power is lower than a threshold, the hong Monte terminal may decrease measurement accuracy, γ″ is a third weight adjustment factor, E i is a history measurement accuracy of the measured position point of the i-th hong Monte terminal, and δ is a fourth weight adjustment factor.
Further, the time influence factor gamma i of the ith hong-and-Monte terminal includes:
Wherein, β″ 'is the fifth weight adjustment factor, t is the current time, t i is the timestamp of the measured data of the measured position of the ith hong terminal, δ' i is the historical performance trend of the ith hong terminal, if the positioning accuracy of the ith hong terminal in history is continuously reduced, δ 'i takes a negative value, otherwise, δ' i takes a positive value.
The invention also provides a Beidou positioning data fusion system based on the hong Monte operating system, which comprises the following steps:
The coordinate acquisition module is used for acquiring coordinate measurement values of the measured position points of the plurality of hong and Monte terminals at a plurality of times, wherein the coordinate measurement values comprise an abscissa measurement value, an ordinate measurement value, a historical average abscissa measurement value, a historical average ordinate measurement value, an abscissa true value of the measured position points and an ordinate true value of the measured position points;
And the fusion module is used for setting a position fusion model, fitting the position fusion model according to the coordinate measured value and through a gradient descent method or a genetic algorithm, so that the training of the position fusion model is completed, and the Beidou positioning data fusion is carried out on the newly acquired coordinate measured value through the trained position fusion model, so that the abscissa and the ordinate in the fused Beidou positioning data are closest to the abscissa true value and the ordinate true value of the position point to be positioned.
Further, the position fusion model f (X, Y) includes:
Where N is the number of hong terminals, σ i is the error estimate for the i-th hong terminal, X is the abscissa actual value of the measured point, X i is the abscissa measured value of the measured point provided by the i-th hong terminal, Y is the ordinate actual value of the measured point, Y i is the ordinate measured value of the measured point provided by the i-th hong terminal, ω i is the reliability weight of the i-th hong terminal, Φ i is the environmental impact factor of the i-th hong terminal, and γ i is the time impact factor of the i-th hong terminal.
Further, the error estimation σ i of the ith hong-and-Monte terminal includes:
wherein x ij is the j-th abscissa measurement of the measured position point provided by the i-th hong-and-Monte terminal, Historical average abscissa measurement of the measured location point provided for the ith hong terminal, y ij is the jth ordinate measurement of the measured location point provided for the ith hong terminal,The historical average ordinate measurement value of the measured position point provided for the ith hong terminal, alpha is the historical measurement accuracy weight, and E i is the historical measurement accuracy of the measured position point of the ith hong terminal.
Further, the environmental impact factor Φ i of the ith hong terminal includes:
Wherein α 'is a change speed adjustment parameter of an environmental factor, β 1 is a current temperature weight, T i is a current temperature of a measured position point of an ith hong and Monte terminal, β 2 is a visibility weight, W' i is a visibility of the measured position point of the ith hong and Monte terminal, β 3 is a Terrain complexity weight, terrain (x i,yi) is a Terrain complexity of the measured position point of the ith hong and Monte terminal, and the characterization is performed by the elevation data of the measured position point.
Further, the time influence factor gamma i of the ith hong-and-Monte terminal includes:
Wherein, β″ 'is the fifth weight adjustment factor, t is the current time, t i is the timestamp of the measured data of the measured position of the ith hong terminal, δ' i is the historical performance trend of the ith hong terminal, if the positioning accuracy of the ith hong terminal in history is continuously reduced, δ 'i takes a negative value, otherwise, δ' i takes a positive value.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
The method comprises the steps of obtaining coordinate measured values of measured position points of a plurality of hong and Mongolian terminals at a plurality of times, wherein the coordinate measured values comprise an abscissa measured value, an ordinate measured value, a historical average abscissa measured value, a historical average ordinate measured value, an abscissa true value of the measured position points and an ordinate true value of the measured position points, and fusing the position according to the coordinate measured values and through a gradient descent method or a genetic algorithm, so that final abscissa true values and ordinate true values of the measured position points are found, and the final abscissa true values and ordinate true values are closest to the abscissa true values and the ordinate true values, and Beidou positioning data fusion is completed. According to the technical scheme, the Beidou positioning data of the plurality of hong and Monte terminals can be fused, so that final position estimation is completed, and the accuracy of the positioning data is greatly improved.
Drawings
FIG. 1 is a flow chart of the method of embodiment 1 of the present invention;
Fig. 2 is a system configuration diagram of embodiment 2 of the present invention.
Detailed Description
In order to better understand the above technical solutions, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
The method provided by the invention can be implemented in a terminal environment that can include one or more of a processor, a storage medium, and a display screen. Wherein the storage medium has stored therein at least one instruction that is loaded and executed by the processor to implement the method described in the embodiments below.
The processor may include one or more processing cores. The processor connects various parts within the overall terminal using various interfaces and lines, performs various functions of the terminal and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the storage medium, and invoking data stored in the storage medium.
The storage medium may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (ROM). The storage medium may be used to store instructions, programs, code sets, or instructions.
The display screen is used for displaying the interaction section of each application program.
All subscripts in the formula of the invention are only used for distinguishing parameters and have no practical meaning.
In addition, it will be appreciated by those skilled in the art that the structure of the terminal described above is not limiting and that the terminal may include more or fewer components, or may combine certain components, or a different arrangement of components. For example, the terminal further includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, a power supply, and the like, which are not described herein.
Example 1
As shown in fig. 1, an embodiment of the present invention provides a beidou positioning data fusion method based on a hong-mo operating system, including:
Step 101, obtaining coordinate measurement values of measured position points of a plurality of hong and Monte terminals at a plurality of times, wherein the coordinate measurement values comprise an abscissa measurement value, an ordinate measurement value, a historical average abscissa measurement value, a historical average ordinate measurement value, an abscissa true value of the measured position points and an ordinate true value of the measured position points;
step 102, setting a position fusion model, fitting the position fusion model according to the coordinate measured values by a gradient descent method or a genetic algorithm, thereby completing the training of the position fusion model, and fusing Beidou positioning data of the newly acquired coordinate measured values by the trained position fusion model to enable the abscissa and ordinate in the fused Beidou positioning data to be closest to the abscissa true value and the ordinate true value of the measured position point.
Specifically, the position fusion model f (X, Y) includes:
Where N is the number of hong terminals, σ i is the error estimate for the i-th hong terminal, X is the abscissa actual value of the measured point, X i is the abscissa measured value of the measured point provided by the i-th hong terminal, Y is the ordinate actual value of the measured point, Y i is the ordinate measured value of the measured point provided by the i-th hong terminal, ω i is the reliability weight of the i-th hong terminal, Φ i is the environmental impact factor of the i-th hong terminal, and γ i is the time impact factor of the i-th hong terminal.
Specifically, the error estimation σ i of the ith hong-and-Monte terminal includes:
wherein x ij is the j-th abscissa measurement of the measured position point provided by the i-th hong-and-Monte terminal, Historical average abscissa measurement of the measured location point provided for the ith hong terminal, y ij is the jth ordinate measurement of the measured location point provided for the ith hong terminal,The historical average ordinate measurement value of the measured position point provided for the ith hong terminal, alpha is the historical measurement accuracy weight, and E i is the historical measurement accuracy of the measured position point of the ith hong terminal.
Specifically, the environmental impact factor Φ i of the ith hong terminal includes:
Wherein α 'is a change speed adjustment parameter of an environmental factor, β 1 is a current temperature weight, T i is a current temperature of a measured position point of an ith hong and Monte terminal, β 2 is a visibility weight, W' i is a visibility of the measured position point of the ith hong and Monte terminal, β 3 is a Terrain complexity weight, terrain (x i,yi) is a Terrain complexity of the measured position point of the ith hong and Monte terminal, and the characterization is performed by the elevation data of the measured position point.
Specifically, the reliability weight ω i of the ith hong-and-Monte terminal includes:
Where α″ is a first weight adjustment factor, β″ is a second weight adjustment factor, S i is a signal strength of a measured position point of an i-th hong Monte terminal, ui is a battery power of the measured position point of the i-th hong Monte terminal, when the battery power is lower than a threshold, the hong Monte terminal may decrease measurement accuracy, γ″ is a third weight adjustment factor, E i is a history measurement accuracy of the measured position point of the i-th hong Monte terminal, and δ is a fourth weight adjustment factor.
Specifically, the time influence factor gamma i of the ith hong-and-Monte terminal includes:
Wherein, β″ 'is the fifth weight adjustment factor, t is the current time, t i is the timestamp of the measured data of the measured position of the ith hong terminal, δ' i is the historical performance trend of the ith hong terminal, if the positioning accuracy of the ith hong terminal in history is continuously reduced, δ 'i takes a negative value, otherwise, δ' i takes a positive value.
And step 103, acquiring Beidou positioning data of the multiple HongMong terminals in real time, and acquiring final position estimation according to the position fusion model.
Example 2
As shown in fig. 2, the embodiment of the present invention further provides a beidou positioning data fusion system based on a hong-mo operating system, including:
The coordinate acquisition module is used for acquiring coordinate measurement values of the measured position points of the plurality of hong and Monte terminals at a plurality of times, wherein the coordinate measurement values comprise an abscissa measurement value, an ordinate measurement value, a historical average abscissa measurement value, a historical average ordinate measurement value, an abscissa true value of the measured position points and an ordinate true value of the measured position points;
And the fusion module is used for setting a position fusion model, fitting the position fusion model according to the coordinate measured value and through a gradient descent method or a genetic algorithm, so that the training of the position fusion model is completed, and the Beidou positioning data fusion is carried out on the newly acquired coordinate measured value through the trained position fusion model, so that the abscissa and the ordinate in the fused Beidou positioning data are closest to the abscissa true value and the ordinate true value of the position point to be positioned.
Specifically, the position fusion model f (X, Y) includes:
Where N is the number of hong terminals, σ i is the error estimate for the i-th hong terminal, X is the abscissa actual value of the measured point, X i is the abscissa measured value of the measured point provided by the i-th hong terminal, Y is the ordinate actual value of the measured point, Y i is the ordinate measured value of the measured point provided by the i-th hong terminal, ω i is the reliability weight of the i-th hong terminal, Φ i is the environmental impact factor of the i-th hong terminal, and γ i is the time impact factor of the i-th hong terminal.
Specifically, the error estimation σ i of the ith hong-and-Monte terminal includes:
wherein x ij is the j-th abscissa measurement of the measured position point provided by the i-th hong-and-Monte terminal, Historical average abscissa measurement of the measured location point provided for the ith hong terminal, y ij is the jth ordinate measurement of the measured location point provided for the ith hong terminal,The historical average ordinate measurement value of the measured position point provided for the ith hong terminal, alpha is the historical measurement accuracy weight, and E i is the historical measurement accuracy of the measured position point of the ith hong terminal.
Specifically, the environmental impact factor Φ i of the ith hong terminal includes:
Wherein α 'is a change speed adjustment parameter of an environmental factor, β 1 is a current temperature weight, T i is a current temperature of a measured position point of an ith hong and Monte terminal, β 2 is a visibility weight, W' i is a visibility of the measured position point of the ith hong and Monte terminal, β 3 is a Terrain complexity weight, terrain (x i,yi) is a Terrain complexity of the measured position point of the ith hong and Monte terminal, and the characterization is performed by the elevation data of the measured position point.
Specifically, the reliability weight ω i of the ith hong-and-Monte terminal includes:
Where α″ is a first weight adjustment factor, β″ is a second weight adjustment factor, S i is a signal strength of a measured position point of an i-th hong Monte terminal, U i is a battery power of the measured position point of the i-th hong Monte terminal, when the battery power is lower than a threshold, the hong Monte terminal may decrease measurement accuracy, γ″ is a third weight adjustment factor, E i is a history measurement accuracy of the measured position point of the i-th hong Monte terminal, and δ is a fourth weight adjustment factor.
Specifically, the time influence factor gamma i of the ith hong-and-Monte terminal includes:
Wherein, β″ 'is the fifth weight adjustment factor, t is the current time, t i is the timestamp of the measured data of the measured position of the ith hong terminal, σ' i is the historical performance trend of the ith hong terminal, if the positioning accuracy of the ith hong terminal in history is continuously reduced, δ 'i takes a negative value, otherwise, δ' i takes a positive value.
And the estimation module is used for acquiring Beidou positioning data of the multiple Hongmon terminal in real time and acquiring final position estimation according to the position fusion model.
Example 3
The embodiment of the invention also provides a storage medium which stores a plurality of instructions for realizing the Beidou positioning data fusion method based on the hong operation system.
Alternatively, in this embodiment, the storage medium may be located in any one of the computer terminals in the computer terminal group in the computer network, or in any one of the mobile terminals in the mobile terminal group.
Optionally, in this embodiment, the storage medium is arranged to store program code for obtaining coordinate measurements of the measured location points of the plurality of hong and Monte terminals at a plurality of times, the coordinate measurements comprising an abscissa measurement, an ordinate measurement, a historical average abscissa measurement, a historical average ordinate measurement, an abscissa true value of the measured location points, and an ordinate true value of the measured location points, step 101;
step 102, setting a position fusion model, fitting the position fusion model according to the coordinate measured values by a gradient descent method or a genetic algorithm, thereby completing the training of the position fusion model, and fusing Beidou positioning data of the newly acquired coordinate measured values by the trained position fusion model to enable the abscissa and ordinate in the fused Beidou positioning data to be closest to the abscissa true value and the ordinate true value of the measured position point.
Specifically, the position fusion model f (X, Y) includes:
Where N is the number of hong terminals, σ i is the error estimate for the i-th hong terminal, X is the abscissa actual value of the measured point, X i is the abscissa measured value of the measured point provided by the i-th hong terminal, Y is the ordinate actual value of the measured point, Y i is the ordinate measured value of the measured point provided by the i-th hong terminal, ω i is the reliability weight of the i-th hong terminal, Φ i is the environmental impact factor of the i-th hong terminal, and γ i is the time impact factor of the i-th hong terminal.
Specifically, the error estimation σ i of the ith hong-and-Monte terminal includes:
wherein x ij is the j-th abscissa measurement of the measured position point provided by the i-th hong-and-Monte terminal, Historical average abscissa measurement of the measured location point provided for the ith hong terminal, y ij is the jth ordinate measurement of the measured location point provided for the ith hong terminal,The historical average ordinate measurement value of the measured position point provided for the ith hong terminal, alpha is the historical measurement accuracy weight, and E i is the historical measurement accuracy of the measured position point of the ith hong terminal.
Specifically, the environmental impact factor Φ i of the ith hong terminal includes:
Wherein α 'is a change speed adjustment parameter of an environmental factor, β 1 is a current temperature weight, T i is a current temperature of a measured position point of an ith hong and Monte terminal, β 2 is a visibility weight, W' i is a visibility of the measured position point of the ith hong and Monte terminal, β 3 is a Terrain complexity weight, terrain (x i,yi) is a Terrain complexity of the measured position point of the ith hong and Monte terminal, and the characterization is performed by the elevation data of the measured position point.
Specifically, the reliability weight ω i of the ith hong-and-Monte terminal includes:
Where α″ is a first weight adjustment factor, β″ is a second weight adjustment factor, S i is a signal strength of a measured position point of an i-th hong Monte terminal, U i is a battery power of the measured position point of the i-th hong Monte terminal, when the battery power is lower than a threshold, the hong Monte terminal may decrease measurement accuracy, γ″ is a third weight adjustment factor, E i is a history measurement accuracy of the measured position point of the i-th hong Monte terminal, and δ is a fourth weight adjustment factor.
Specifically, the time influence factor gamma i of the ith hong-and-Monte terminal includes:
Wherein, β″ 'is the fifth weight adjustment factor, t is the current time, t i is the timestamp of the measured data of the measured position of the ith hong terminal, δ' i is the historical performance trend of the ith hong terminal, if the positioning accuracy of the ith hong terminal in history is continuously reduced, δ 'i takes a negative value, otherwise, δ' i takes a positive value.
And step 103, acquiring Beidou positioning data of the multiple HongMong terminals in real time, and acquiring final position estimation according to the position fusion model.
Example 4
The embodiment of the invention also provides electronic equipment, which comprises a processor and a storage medium connected with the processor, wherein the storage medium stores a plurality of instructions, and the instructions can be loaded and executed by the processor so that the processor can execute the Beidou positioning data fusion method based on the hong Mongolian operating system.
In particular, the electronic device of the present embodiment may be a computer terminal that may include one or more processors and a storage medium.
The storage medium can be used for storing software programs and modules, such as a Beidou positioning data fusion method based on a hong operation system in the embodiment of the invention, corresponding program instructions/modules are provided, and the processor executes various functional applications and data processing by running the software programs and the modules stored in the storage medium, so that the Beidou positioning data fusion method based on the hong operation system is realized. The storage medium may include a high-speed random access storage medium, and may also include a non-volatile storage medium, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage medium. In some examples, the storage medium may further include a storage medium remotely located with respect to the processor, and the remote storage medium may be connected to the terminal through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Step 101, obtaining coordinate measurement values of measured position points of a plurality of hong and Monte terminals at a plurality of times, wherein the coordinate measurement values comprise an abscissa measurement value, an ordinate measurement value, a historical average abscissa measurement value, a historical average ordinate measurement value, an abscissa true value of the measured position points and an ordinate true value of the measured position points;
step 102, setting a position fusion model, fitting the position fusion model according to the coordinate measured values by a gradient descent method or a genetic algorithm, thereby completing the training of the position fusion model, and fusing Beidou positioning data of the newly acquired coordinate measured values by the trained position fusion model to enable the abscissa and ordinate in the fused Beidou positioning data to be closest to the abscissa true value and the ordinate true value of the measured position point.
Specifically, the position fusion model f (X, Y) includes:
Where N is the number of hong terminals, σ i is the error estimate for the i-th hong terminal, X is the abscissa actual value of the measured point, X i is the abscissa measured value of the measured point provided by the i-th hong terminal, Y is the ordinate actual value of the measured point, Y i is the ordinate measured value of the measured point provided by the i-th hong terminal, ω i is the reliability weight of the i-th hong terminal, Φ i is the environmental impact factor of the i-th hong terminal, and γ i is the time impact factor of the i-th hong terminal.
Specifically, the error estimation σ i of the ith hong-and-Monte terminal includes:
wherein x ij is the j-th abscissa measurement of the measured position point provided by the i-th hong-and-Monte terminal, Historical average abscissa measurement of the measured location point provided for the ith hong terminal, y ij is the jth ordinate measurement of the measured location point provided for the ith hong terminal,The historical average ordinate measurement value of the measured position point provided for the ith hong terminal, alpha is the historical measurement accuracy weight, and E i is the historical measurement accuracy of the measured position point of the ith hong terminal.
Specifically, the environmental impact factor Φ i of the ith hong terminal includes:
Wherein α 'is a change speed adjustment parameter of an environmental factor, β 1 is a current temperature weight, T i is a current temperature of a measured position point of an ith hong and Monte terminal, β 2 is a visibility weight, W' i is a visibility of the measured position point of the ith hong and Monte terminal, β 3 is a Terrain complexity weight, terrain (x i,yi) is a Terrain complexity of the measured position point of the ith hong and Monte terminal, and the characterization is performed by the elevation data of the measured position point.
Specifically, the reliability weight ω i of the ith hong-and-Monte terminal includes:
Where α″ is a first weight adjustment factor, β″ is a second weight adjustment factor, S i is a signal strength of a measured position point of an i-th hong Monte terminal, U i is a battery power of the measured position point of the i-th hong Monte terminal, when the battery power is lower than a threshold, the hong Monte terminal may decrease measurement accuracy, γ″ is a third weight adjustment factor, E i is a history measurement accuracy of the measured position point of the i-th hong Monte terminal, and δ is a fourth weight adjustment factor.
Specifically, the time influence factor gamma i of the ith hong-and-Monte terminal includes:
Wherein, β″ 'is the fifth weight adjustment factor, t is the current time, t i is the timestamp of the measured data of the measured position of the ith hong terminal, δ' i is the historical performance trend of the ith hong terminal, if the positioning accuracy of the ith hong terminal in history is continuously reduced, δ 'i takes a negative value, otherwise, δ' i takes a positive value.
And step 103, acquiring Beidou positioning data of the multiple HongMong terminals in real time, and acquiring final position estimation according to the position fusion model.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed technology may be implemented in other manners. The system embodiments described above are merely exemplary, and for example, the division of the units is merely a logic function division, and there may be another division manner in actual implementation, 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 interfaces, units or modules, or may be in electrical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on 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.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or partly in the form of a software product or all or part of the technical solution, which is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. The storage medium includes a usb disk, a Read-Only Memory (ROM), a random-access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or a compact disk, etc. which can store the program code.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (2)
1. A Beidou positioning data fusion method based on a hong Monte operating system is characterized by comprising the following steps of:
Acquiring coordinate measurement values of measured position points of a plurality of hong-Mongolian terminals at a plurality of times, wherein the coordinate measurement values comprise an abscissa measurement value, an ordinate measurement value, a historical average abscissa measurement value, a historical average ordinate measurement value, an abscissa true value of the measured position points and an ordinate true value of the measured position points;
Setting a position fusion model, fitting the position fusion model according to the coordinate measured value by a gradient descent method or a genetic algorithm, thereby completing the training of the position fusion model, and fusing Beidou positioning data of the newly acquired coordinate measured value by the trained position fusion model to enable the abscissa and ordinate in the fused Beidou positioning data to be closest to the abscissa true value and the ordinate true value of the measured position point;
Position fusion model Comprising the following steps:
,
Wherein, In order to make the number of terminals hong Monte,Is the firstAn error estimate for the individual buddhist terminals,For the abscissa true value of the measured position point,Is the firstThe detected position point abscissa measurement value provided by the hong-mo terminal,For the ordinate true value of the measured position point,Is the firstThe buddhist terminal provides an ordinate measurement of the measured position point,Is the firstReliability weight of the individual buddhist terminals,Is the firstThe environmental impact factor of a hong-and-Monte terminal,Is the firstA time-affecting factor for each hong-mo terminal;
Said first Error estimation for a Hongmon terminalComprising the following steps:
,
Wherein, Is the firstThe first detected position point provided by the Hongmon terminalA number of measurements taken on the abscissa,Is the firstThe history of average abscissa measurements of the measured position points provided by the individual buddhist terminals,Is the firstThe first detected position point provided by the Hongmon terminalA number of the ordinate measurements are taken,Is the firstThe history of average ordinate measurements of the measured position points provided by the buddhist terminals,For the historical measurement of the accuracy weight,Is the firstHistorical measurement accuracy of measured position points of the Hongmon terminals;
First, the Environment influence factor of personal hong Monte terminalComprising the following steps:
,
Wherein, The parameters are adjusted for the rate of change of the environmental factor,As a weight of the current temperature,Is the firstThe current temperature of the measured location point of the buddhist terminal,In order for the visibility weight to be given,Is the firstVisibility of the measured location point of the buddhist terminal,As a weight of the complexity of the terrain,Is the firstThe terrain complexity of the measured position point of each hong-Monte terminal is characterized by the elevation data of the measured position point;
Said first Reliability weight of personal buddha terminalComprising the following steps:
,
Wherein, For the first weight adjustment factor,For the second weight adjustment factor,Is the firstThe signal strength of the measured location point of the hong-mo terminal,Is the firstThe battery power of the measured position point of the hong terminal, when the battery power is lower than the threshold value, the hong terminal may lower the measurement accuracy,For the third weight adjustment factor,Is the firstThe historical measurement accuracy of the measured location point of the hong-mo terminal,Is a fourth weight adjustment factor;
Said first Time influence factor of Hongmon terminalComprising the following steps:
,
Wherein, For the fifth weight adjustment factor,For the current time period of time,Is the firstA timestamp of the measurement data of the measured position point of the hong-and-Monte terminal,Is the firstHistorical performance trend of Hongmon terminal, if the firstThe positioning accuracy of the hong Monte terminal in history is continuously reducedTake a negative value, otherwise,Take a positive value.
2. Big dipper positioning data fusion system based on hong Monte operating system, characterized by comprising:
The coordinate acquisition module is used for acquiring coordinate measurement values of the measured position points of the plurality of hong and Monte terminals at a plurality of times, wherein the coordinate measurement values comprise an abscissa measurement value, an ordinate measurement value, a historical average abscissa measurement value, a historical average ordinate measurement value, an abscissa true value of the measured position points and an ordinate true value of the measured position points;
The fusion module is used for setting a position fusion model, fitting the position fusion model according to the coordinate measured value and through a gradient descent method or a genetic algorithm, so that training of the position fusion model is completed, beidou positioning data fusion is carried out on the newly acquired coordinate measured value through the trained position fusion model, and the abscissa and the ordinate in the fused Beidou positioning data are closest to the abscissa true value and the ordinate true value of the measured position point;
Position fusion model Comprising the following steps:
,
Wherein, In order to make the number of terminals hong Monte,Is the firstAn error estimate for the individual buddhist terminals,For the abscissa true value of the measured position point,Is the firstThe detected position point abscissa measurement value provided by the hong-mo terminal,For the ordinate true value of the measured position point,Is the firstThe buddhist terminal provides an ordinate measurement of the measured position point,Is the firstReliability weight of the individual buddhist terminals,Is the firstThe environmental impact factor of a hong-and-Monte terminal,Is the firstA time-affecting factor for each hong-mo terminal;
Said first Error estimation for a Hongmon terminalComprising the following steps:
,
Wherein, Is the firstThe first detected position point provided by the Hongmon terminalA number of measurements taken on the abscissa,Is the firstThe history of average abscissa measurements of the measured position points provided by the individual buddhist terminals,Is the firstThe first detected position point provided by the Hongmon terminalA number of the ordinate measurements are taken,Is the firstThe history of average ordinate measurements of the measured position points provided by the buddhist terminals,For the historical measurement of the accuracy weight,Is the firstHistorical measurement accuracy of measured position points of the Hongmon terminals;
First, the Environment influence factor of personal hong Monte terminalComprising the following steps:
,
Wherein, The parameters are adjusted for the rate of change of the environmental factor,As a weight of the current temperature,Is the firstThe current temperature of the measured location point of the buddhist terminal,In order for the visibility weight to be given,Is the firstVisibility of the measured location point of the buddhist terminal,As a weight of the complexity of the terrain,Is the firstThe terrain complexity of the measured position point of each hong-Monte terminal is characterized by the elevation data of the measured position point;
Said first Reliability weight of personal buddha terminalComprising the following steps:
,
Wherein, For the first weight adjustment factor,For the second weight adjustment factor,Is the firstThe signal strength of the measured location point of the hong-mo terminal,Is the firstThe battery power of the measured position point of the hong terminal, when the battery power is lower than the threshold value, the hong terminal may lower the measurement accuracy,For the third weight adjustment factor,Is the firstThe historical measurement accuracy of the measured location point of the hong-mo terminal,Is a fourth weight adjustment factor;
Said first Time influence factor of Hongmon terminalComprising the following steps:
,
Wherein, For the fifth weight adjustment factor,For the current time period of time,Is the firstA timestamp of the measurement data of the measured position point of the hong-and-Monte terminal,Is the firstHistorical performance trend of Hongmon terminal, if the firstThe positioning accuracy of the hong Monte terminal in history is continuously reducedTake a negative value, otherwise,Take a positive value.
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