Method for using incomplete external measurement data in real-time filtering

• Main Authors: ZHANG ZHIBIN, LI YONG, DAN PENG, WANG DAN, LI HENGNIAN
• Format: Patent
• Language: Chinese; English
• Published: 14.05.2019
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention discloses a method for using incomplete external measurement data in real-time filtering. The method comprises the following steps: directly establishing an observation model of a filterunder a station horizontal coordinate system; defining a unified structure to represent the validity of each measurement element in each frame data; and in filtering calculation, realizing mixed useof various complete and incomplete data according to a matrix in which the number of current data frame measurement element pairs is relevant to the observation amount as well as a vector. The use method can realize real-time gain change of filtering according to the error characteristics of different stations and different measurement elements in filtering calculation, thereby effectively avoiding the influence of poor quality data on the system state. 本发明公开了一种非完备外测数据在实时滤波中的使用方法，将滤波器的观测模型直接建立在测站地平坐标系下；定义统一的结构表示每帧数据中各个测量元素的有效性；在滤波计算中根据当前数据帧测量元素个数对与观测量相关的矩阵及向量采取自适应变维处理等技术来实现各类完备、非完备数据的混合使用。本发明的使用方法在滤波计算中能针对各个测站、各个不同测量元素