Dynamic target positioning method

The invention discloses a dynamic target positioning method, which comprises the following steps of: acquiring data in real time by using an inertial measurement unit and an ultra wide band module, and repeating the following steps in the process: initializing state estimation and an error covarianc...

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Bibliographic Details
Main Authors XU ERPEI, GUO YUNLONG, FENG YUNJI, QIU FANSHUO, YU CHENGPU
Format Patent
LanguageChinese
English
Published 29.11.2022
Subjects
CALCULATING
COMPUTING
COUNTING
ELECTRIC DIGITAL DATA PROCESSING
GYROSCOPIC INSTRUMENTS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
SURVEYING
TESTING
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Summary:The invention discloses a dynamic target positioning method, which comprises the following steps of: acquiring data in real time by using an inertial measurement unit and an ultra wide band module, and repeating the following steps in the process: initializing state estimation and an error covariance matrix by using the data acquired at the current moment; carrying out SVD decomposition on the error covariance matrix to calculate volume points; evaluating the volume points through a nonlinear state model to obtain propagated volume points; the prediction state and the error covariance are updated using the volume points. Based on the updated prediction state and the error covariance, a first Kalman filter is adopted to carry out prediction quantity updating and Kalman gain calculation, and a second Kalman filter is adopted to update the state estimation and the error covariance matrix. And fusing local estimation information of the two Kalman filters by adopting a federated filtering framework, and updating s
Bibliography:Application Number: CN202211005507