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CN107621644A - A kind of anti-interference control method of GPS positioning system - Google Patents

A kind of anti-interference control method of GPS positioning system Download PDF

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Publication number
CN107621644A
CN107621644A CN201710675005.8A CN201710675005A CN107621644A CN 107621644 A CN107621644 A CN 107621644A CN 201710675005 A CN201710675005 A CN 201710675005A CN 107621644 A CN107621644 A CN 107621644A
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Inventor
陈光宇
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Shanghai Is Moved As Communication Technology Co Ltd By Shares
Queclink Wireless Solutions Co Ltd
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Shanghai Is Moved As Communication Technology Co Ltd By Shares
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Abstract

The present invention relates to a kind of anti-interference control method of GPS positioning system, it is characterised in that：GPS positioning system measures anchor point actual position information, and it is represented with three-dimensional coordinate, is made up of longitude x, latitude y and height z；Longitude x, latitude y and height z measured value are calculated after processor introducing noise respectively；The estimate of longitude x, latitude y and height z in actual position information are estimated according to a upper dot position information for anchor point；The weight size of the measured value and the estimate is calculated respectively, and weight selection smaller is integrated into final position information.This method is by conformity calculation, estimation calculates and weight calculation, reduces position error, is drawn by weight calculation and meet actual location information, reduces high buildings and large mansions well or interference that other complicated construction are brought to GPS location, makes GPS location more accurate.

Description

A kind of anti-interference control method of GPS positioning system
Technical field
This patent relates generally to GPS location field, more particularly to a kind of method of raising GPS antijamming capabilities.
Background technology
Utilization of the GPS location airmanship in life is more next extensively, and it is either in life or in Military application In suffer from huge value, particularly in the scientific and technological gradually flourishing network ubiquitous epoch, masses go out navigation, position Perhaps peripheral information is more prevalent.But in present built-up city life, in GPS tracing processes, if High buildings and large mansions or surrounding enviroment geography construction complexity occur can disturb to positioning belt, it is impossible to accurately carry out very much status, meeting There is phenomena such as fix drift, so may result in us can not be accurate to and reach when seeking and positioning target, delay stroke with this, Make troubles.
The content of the invention
Based on the problems of background technology, a kind of method for improving GPS location antijamming capability of body of the present invention is right Location information carries out calculating processing, obtains reasonable accurate location information, reduces the influence of interference fringe.
The present invention provides a kind of anti-interference control method of GPS positioning system, it is characterised in that：GPS positioning system measures Anchor point actual position information, the actual position information include velocity information and acceleration information, by the velocity information and The acceleration information represents that the three-dimensional coordinate is made up of longitude x, latitude y and height z with three-dimensional coordinate respectively；Processor The longitude x, the latitude y and the height z measured value are calculated after introducing noise respectively；According to the upper of the anchor point One dot position information estimates the estimate of longitude x, the latitude y and the height z described in the actual position information；Respectively The weight size of the measured value and the estimate is calculated, weight selection smaller is integrated into final position information.
Further, the method for the present invention for improving GPS positioning system antijamming capability, wherein the processor is The integration measured value of the longitude x is carried out according to following algorithm：
The integration measured value of the longitude x isWherein ptFor current longitude location information, vtFor current speed Spend information,
The anchor point equation of motion is expressed as：
pt=pt-1+vt-1*Δt+0.5*Δt2*ut
The anchor point rate equation is expressed as：
vt=Vt-1+ut*Δt
Wherein utFor actual acceleration, Δ t is that the sampling time is poor, pt-1For upper anchor point longitude location information, vt-1For A upper spot speed,
The equation of motion and rate equation are converted into matrix equation is：
The estimate of the longitude x is calculated according to following algorithm：
Wherein It is expressed as by upper location information,
Introduce noise figure：
Noise covariance equation is transmitted：
pt -=Ft*pt-1*Ft T+Q
ByThe coefficient that observing matrix can be obtained is H=[1 0],
The positional information that current x is obtained by location information is：
Zt=H*xt+ v, v are observation noise,
Then the estimated value table is shown as：
The weight size determining method of the longitude x is：
Kt=pt -1*HT*(H*pt -*HT+R)-1
Wherein R represents the covariance matrix of observation noise,
The longitude x final position informations are expressed as：
pt=(I-Kt*H)*pt -
Further, the method for the present invention for improving GPS positioning system antijamming capability, wherein the processor is The integration measured value of the latitude y is carried out according to following algorithm：
The integration measured value of the latitude y isWherein ptFor current Position Latitude information, vtFor current speed Spend information,
The anchor point equation of motion is expressed as：
pt=pt-1+vt-1*Δt+0.5*Δt2*ut
The anchor point rate equation is expressed as：
vt=vt-1+ut*Δt
Wherein utFor actual acceleration, Δ t is that the sampling time is poor, pt-1For upper anchor point Position Latitude information, vt-1For A upper spot speed,
The equation of motion and rate equation are converted into matrix equation is：
The estimate of the latitude y is calculated according to following algorithm：
Wherein It is expressed as by upper location information,
Introduce noise figure：
Noise covariance equation is transmitted：
pt -=Ft*pt-1*Ft T+Q
ByThe coefficient that observing matrix can be obtained is H=[1 0],
The positional information that current y is obtained by location information is：
Zt=H*yt+ v, v are observation noise,
Then the estimated value table is shown as：
The weight size determining method of the latitude y is：
Kt=pt -1*HT*(H*pt -*HT+R)-1
Wherein R represents the covariance matrix of observation noise,
The latitude y final position informations are expressed as：
pt=(I-Kt*H)*pt -
Further, the method for the present invention for improving GPS positioning system antijamming capability, wherein the processor is The integration measured value of the height z is carried out according to following algorithm：
The integration measured value of the height z isWherein ptFor present level positional information, vtFor current speed Spend information,
The anchor point equation of motion is expressed as：
pt=pt-1+vt-1*Δt+0.5*Δt2*ut
The anchor point rate equation is expressed as：
vt=vt-1+ut*Δt
Wherein utFor actual acceleration, Δ t is that the sampling time is poor, pt-1It is high for a upper anchor point
Spend positional information, vt-1For a upper spot speed,
The equation of motion and rate equation are converted into matrix equation is：
The estimate of the height z is calculated according to following algorithm：
Wherein It is expressed as by upper location information,
Introduce noise figure：
Noise covariance equation is transmitted：
pt -=Ft*pt-1*Ft T+Q
ByThe coefficient that observing matrix can be obtained is H=[1 0],
The positional information that current z is obtained by location information is：
Zt=H*zt+ v, v are observation noise,
Then the estimated value table is shown as：
The weight size determining method of the height z is：
Kt=pt -1*HT*(H*pt -*HT+R)-1
Wherein R represents the covariance matrix of observation noise,
The height z final position informations are expressed as：
pt=(I-Kt*H)*pt -
Further, the method for the present invention for improving GPS positioning system antijamming capability, it is characterised in that described Actual position information reads and uses NEMA agreements.
The present invention is led to using locating speed, acceleration information are divided into longitude x, latitude y, height z using three-dimensional coordinate The single longitude x of calculating anchor point, latitude y, height z values are crossed, measured value is integrated by integrating to obtain, believes further through a upper point location Breath value is estimated to obtain estimate to present location information value, finally will integrate measured value and estimate carries out weight meter Calculate, draw smaller, to determine precise location information value, this method is by conformity calculation, estimation calculates and weight calculation, subtracts Position error is lacked, has been drawn by weight calculation and meet actual location information, reduced high buildings and large mansions well or other are multiple The interference that miscellaneous construction is brought to GPS location, make GPS location more accurate
Brief description of the drawings
The flow chart of Fig. 1 positions the inventive method.
Case is embodied
The present invention is further elaborated below in conjunction with the accompanying drawings.
The flow chart 100 of position as shown in Figure 1 the inventive method
Step 101：GPS positioning system measures anchor point actual position information by NEMA agreements.
Step 102：The speed of actual position information, acceleration information are divided into as longitude x, latitude using three-dimensional coordinate Y, height z.
Step 103：Processor calculates the longitude x, the latitude y, the height z, is integrated to obtain integration survey Value.
The integration measurement calculation method of the longitude x is：
IfWherein ptFor current longitude location information, vtFor current velocity information,
The anchor point equation of motion is expressed as：
pt=pt-1+vt-1*Δt+0.5*Δt2*ut
The anchor point rate equation is expressed as：
vt=vt-1+ut*Δt
Wherein utFor actual acceleration, Δ t is that the sampling time is poor, pt-1For upper anchor point longitude location information, vt-1For A upper spot speed,
The equation of motion and rate equation are converted into matrix equation is：
The integration measurement calculation method of the latitude y is：
IfWherein ptFor current Position Latitude information, vtFor current velocity information,
The anchor point equation of motion is expressed as：
pt=pt-1+vt-1*Δt+0.5*Δt2*ut
The anchor point rate equation is expressed as：
vt=vt-1+ut*Δt
Wherein utFor actual acceleration, Δ t is that the sampling time is poor, pt-1For upper anchor point Position Latitude information, vt-1For A upper spot speed,
The equation of motion and rate equation are converted into matrix equation is：
The integration measurement calculation method of the height z is：
IfWherein ptFor present level positional information, vtFor current velocity information,
The anchor point equation of motion is expressed as：
pt=pt-1+vt-1*Δt+0.5*Δt2*ut
The anchor point rate equation is expressed as：
vt=vt-1+ut*Δt
Wherein utFor actual acceleration, Δ t is that the sampling time is poor, pt-1For upper anchor point height position information, vt-1For A upper spot speed,
The equation of motion and rate equation are converted into matrix equation is：
Step 104：Upper actual position information addition noise figure is carried out that estimate is calculated by processor.
The estimate of the longitude x is calculated according to following algorithm：
Wherein It is expressed as by upper location information,
Introduce noise figure：
Noise covariance equation is transmitted：
pt -=Ft*pt-1*Ft T+Q
ByThe coefficient that observing matrix can be obtained is H=[1 0],
The positional information that current x is obtained by location information is：
Zt=H*xt+ v, v are observation noise,
Then the estimated value table is shown as：
The estimate of the latitude y is calculated according to following algorithm：
Wherein It is expressed as by upper location information,
Introduce noise figure：
Noise covariance equation is transmitted：
pt -=Ft*pt-1*Ft T+Q
ByThe coefficient that observing matrix can be obtained is H=[1 0],
The positional information that current y is obtained by location information is：
Zt=H*yt+ v, v are observation noise,
Then the estimated value table is shown as：
The estimate of the height z is calculated according to following algorithm：
Wherein It is expressed as by upper location information,
Introduce noise figure：
Noise covariance equation is transmitted：
pt -=Ft*pt-1*Ft T+Q
ByThe coefficient that observing matrix can be obtained is H=[1 0],
The positional information that current z is obtained by location information is：
Zt=H*zt+ v, v are observation noise,
Then the estimated value table is shown as：
Step 105：The measured value, the weight size of the estimate are calculated respectively, and weight selection smaller is integrated into Final location information.
The weight size determining method of the longitude x is：
Kt=pt -1*HT*(H*pt -*HT+R)-1
Wherein R represents the covariance matrix of observation noise,
The longitude x final position informations are expressed as：
pt=(I-Kt*H)*pt -
The weight size determining method of the latitude y is：
Kt=pt -1*HT*(H*pt -*HT+R)-1
Wherein R represents the covariance matrix of observation noise,
The latitude y final position informations are expressed as：
pt=(I-Kt*H)*pt -
The weight size determining method of the height z is：
Kt=pt -1*HT*(H*pt -*HT+R)-1
Wherein R represents the covariance matrix of observation noise,
The height z final position informations are expressed as：
pt=(I-Kt*H)*pt -
The less longitude x of weight, latitude y and height z are integrated, most red positional information is formed, due to calculating respectively Enter the integration of row positional information after longitude x, latitude y and height information, positioning is imitated this reduces disturbing factor The influence of fruit.

Claims (5)

  1. A kind of 1. anti-interference control method of GPS positioning system, it is characterised in that：
    GPS positioning system measures anchor point actual position information, and the actual position information includes velocity information and acceleration is believed Breath, the velocity information and the acceleration information is represented with three-dimensional coordinate respectively, the three-dimensional coordinate is by longitude x, latitude y Formed with height z；
    The longitude x, the latitude y and the height z measured value are calculated after processor introducing noise respectively；
    According to a upper dot position information for the anchor point estimate longitude x, the latitude y described in the actual position information and The estimate of the height z；
    The weight size of the measured value and the estimate is calculated respectively, and weight selection smaller is integrated into final position letter Breath.
  2. 2. the method according to claim 1 for improving GPS positioning system antijamming capability, wherein the processor is basis Following algorithm carries out the measured value of the longitude x：
    The integration measured value of the longitude x isWherein ptFor current longitude location information, vtBelieve for current speed Breath,
    The anchor point equation of motion is expressed as：
    pt=pt-1+vt-1*Δt+0.5*Δt2*ut
    The anchor point rate equation is expressed as:
    vt=vt-1+ut*Δt
    Wherein utFor actual acceleration, Δ t is that the sampling time is poor, pt-1For upper anchor point longitude location information, vt-1To be upper Speed,
    The equation of motion and rate equation are converted into matrix equation is：
    <mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>p</mi> <mi>t</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>t</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>*</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>p</mi> <mrow> <mi>t</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mrow> <mi>t</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>+</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>0.5</mn> <mo>*</mo> <mi>&amp;Delta;</mi> <msup> <mi>t</mi> <mn>2</mn> </msup> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>*</mo> <msub> <mi>u</mi> <mi>t</mi> </msub> <mo>=</mo> <msub> <mi>x</mi> <mi>t</mi> </msub> </mrow>
    The estimate of the longitude x is calculated according to following algorithm：
    Wherein It is expressed as by upper location information,
    Introduce noise figure：
    Noise covariance equation is transmitted:
    pt -=Ft*pt-1*Ft T+Q
    ByThe coefficient that observing matrix can be obtained is H=[1 0],
    The positional information that current x is obtained by location information is：
    Zt=H*xt+ v, v are observation noise,
    Then the estimated value table is shown as：
    <mrow> <mover> <msub> <mi>x</mi> <mi>t</mi> </msub> <mo>^</mo> </mover> <mo>=</mo> <msup> <mover> <msub> <mi>x</mi> <mi>t</mi> </msub> <mo>^</mo> </mover> <mo>-</mo> </msup> <mo>+</mo> <msub> <mi>K</mi> <mi>t</mi> </msub> <mo>*</mo> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mi>t</mi> </msub> <mo>-</mo> <mi>H</mi> <mo>*</mo> <msup> <mover> <msub> <mi>x</mi> <mi>t</mi> </msub> <mo>^</mo> </mover> <mo>-</mo> </msup> <mo>)</mo> </mrow> </mrow>
    The weight size determining method of the longitude x is：
    Kt=pt -1*HT*(H*pt -*HT+R)-1
    Wherein R represents the covariance matrix of observation noise,
    The longitude x final position informations are expressed as：
    pt=(I-Kt*H)*pt -
  3. 3. the method according to claim 1 for improving GPS positioning system antijamming capability, wherein the processor is basis Following algorithm carries out the integration measured value of the latitude y：
    The integration measured value of the latitude y isWherein ptFor current Position Latitude information, vtBelieve for current speed Breath,
    The anchor point equation of motion is expressed as：
    pt=pt-1+vt-1*Δt+0.5*Δt2*ut
    The anchor point rate equation is expressed as:
    vt=vt-1+ut*Δt
    Wherein utFor actual acceleration, Δ t is that the sampling time is poor, pt-1For upper anchor point Position Latitude information, vt-1To be upper Speed,
    The equation of motion and rate equation are converted into matrix equation is：
    <mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>p</mi> <mi>t</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>t</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>*</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>p</mi> <mrow> <mi>t</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mrow> <mi>t</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>+</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>0.5</mn> <mo>*</mo> <mi>&amp;Delta;</mi> <msup> <mi>t</mi> <mn>2</mn> </msup> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>*</mo> <msub> <mi>u</mi> <mi>t</mi> </msub> <mo>=</mo> <msub> <mi>y</mi> <mi>t</mi> </msub> </mrow>
    The estimate of the latitude y is calculated according to following algorithm：
    Wherein It is expressed as by upper location information,
    Introduce noise figure：
    Noise covariance equation is transmitted:
    pt -=Ft*pt-1*Ft T+Q
    ByThe coefficient that observing matrix can be obtained is H=[1 0],
    The positional information that current y is obtained by location information is：
    Zt=H*yt+ v, v are observation noise,
    Then the estimated value table is shown as：
    <mrow> <mover> <msub> <mi>y</mi> <mi>t</mi> </msub> <mo>^</mo> </mover> <mo>=</mo> <msup> <mover> <msub> <mi>y</mi> <mi>t</mi> </msub> <mo>^</mo> </mover> <mo>-</mo> </msup> <mo>+</mo> <msub> <mi>K</mi> <mi>t</mi> </msub> <mo>*</mo> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mi>t</mi> </msub> <mo>-</mo> <mi>H</mi> <mo>*</mo> <msup> <mover> <msub> <mi>y</mi> <mi>t</mi> </msub> <mo>^</mo> </mover> <mo>-</mo> </msup> <mo>)</mo> </mrow> </mrow>
    The weight size determining method of the latitude y is：
    Kt=pt -1*HT*(H*pt -*HT+R)-1
    Wherein R represents the covariance matrix of observation noise；
    The latitude y final position informations are expressed as：
    pt=(I-Kt*H)*pt -
  4. 4. the method according to claim 1 for improving GPS positioning system antijamming capability, wherein the processor is basis Following algorithm carries out the integration measured value of the height z：
    The integration measured value of the height z isWherein ptFor present level positional information, vtBelieve for current speed Breath,
    The anchor point equation of motion is expressed as：
    pt=pt-1+vt-1*Δt+0.5*Δt2*ut
    The anchor point rate equation is expressed as:
    vt=vt-1+ut*Δt
    Wherein utFor actual acceleration, Δ t is that the sampling time is poor, pt-1For upper anchor point height position information, vt-1To be upper Speed,
    The equation of motion and rate equation are converted into matrix equation is：
    <mrow> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>p</mi> <mi>t</mi> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>t</mi> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>1</mn> </mtd> <mtd> <mrow> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> </mtd> <mtd> <mn>1</mn> </mtd> </mtr> </mtable> </mfenced> <mo>*</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <msub> <mi>p</mi> <mrow> <mi>t</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mrow> <mi>t</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> </mtd> </mtr> </mtable> </mfenced> <mo>+</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mn>0.5</mn> <mo>*</mo> <mi>&amp;Delta;</mi> <msup> <mi>t</mi> <mn>2</mn> </msup> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>*</mo> <msub> <mi>u</mi> <mi>t</mi> </msub> <mo>=</mo> <msub> <mi>z</mi> <mi>t</mi> </msub> </mrow>
    The estimate of the height z is calculated according to following algorithm：
    Wherein It is expressed as by upper location information,
    Introduce noise figure：
    Noise covariance equation is transmitted:
    pt -=Ft*pt-1*Ft T+Q
    ByThe coefficient that observing matrix can be obtained is H=[1 0],
    The positional information that current z is obtained by location information is：
    Zt=H*zt+ v, v are observation noise,
    Then the estimated value table is shown as：
    <mrow> <mover> <msub> <mi>z</mi> <mi>t</mi> </msub> <mo>^</mo> </mover> <mo>=</mo> <msup> <mover> <msub> <mi>z</mi> <mi>t</mi> </msub> <mo>^</mo> </mover> <mo>-</mo> </msup> <mo>+</mo> <msub> <mi>K</mi> <mi>t</mi> </msub> <mo>*</mo> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mi>t</mi> </msub> <mo>-</mo> <mi>H</mi> <mo>*</mo> <msup> <mover> <msub> <mi>z</mi> <mi>t</mi> </msub> <mo>^</mo> </mover> <mo>-</mo> </msup> <mo>)</mo> </mrow> </mrow>
    The weight size determining method of the height z is：
    Kt=pt -1*HT*(H*pt -*HT+R)-1
    Wherein R represents the covariance matrix of observation noise,
    The height z final position informations are expressed as：
    pt=(I-Kt*H)*pt -
  5. 5. the method according to claim 1 for improving GPS positioning system antijamming capability, it is characterised in that
    The actual position information reads and uses NEMA agreements.
CN201710675005.8A 2017-08-09 2017-08-09 A kind of anti-interference control method of GPS positioning system Withdrawn CN107621644A (en)

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