CN105068098B - A kind of method and receiver for determining mobile vehicle positional information and speed - Google Patents

A kind of method and receiver for determining mobile vehicle positional information and speed Download PDF

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Publication number
CN105068098B
CN105068098B CN201510520347.3A CN201510520347A CN105068098B CN 105068098 B CN105068098 B CN 105068098B CN 201510520347 A CN201510520347 A CN 201510520347A CN 105068098 B CN105068098 B CN 105068098B
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epoch
mrow
msub
mobile vehicle
speed
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CN105068098A (en
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宇伟
曹潇
刘欢
王志平
李月光
吉青
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SHANGHAI HIGH GAIN INFORMATION TECHNOLOGY Co Ltd
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SHANGHAI HIGH GAIN INFORMATION 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/52—Determining velocity

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The embodiment of the invention discloses a kind of method and receiver for determining mobile vehicle positional information and speed.Receiver obtains the observation information of N number of satellite in M epoch, in the case where N is less than first threshold, receiver determines motion track information and speed of the mobile vehicle in M epoch respectively, and positional information and speed of the mobile vehicle in M epoch are obtained in the observation information of the motion track information of M epoch, speed and N number of satellite according to mobile vehicle.Movement locus and speed are separated by the embodiment of the present invention, the motion track information and speed of mobile vehicle are determined respectively, so that the positional information of mobile vehicle is constrained in movement locus and speed, and then according to by being combined motion track information, speed and observation information to obtain the positional information of mobile vehicle, as a result closer to reality.

Description

A kind of method and receiver for determining mobile vehicle positional information and speed
Technical field
The present invention relates to technical field of satellite navigation, more particularly to a kind of side for determining mobile vehicle positional information and speed Method and receiver.
Background technology
Dynamic navigation is always navigated the most major application field that is related to, includes the navigation of motor vehicles, aircraft, ship. Because satellite navigation system has, Global coverage, terminal volume are small, positioning precision is high, numerous advantages such as easy to use, moreover it is possible to compare More flexibly and easily combined with inertia device, magnetometer etc., solve the navigation problem of mobile vehicle, so being widely used in moving Among the navigation of carrier.
Generally, in GPS positioning system, the observation information that receiver usually requires to obtain at least four satellites has been come The positioning of paired mobile vehicle.Can it is optionally poor in the case of, if receiver does not get enough observation informations, Then need to be predicted the motion state of mobile vehicle.
At present, in satellite navigation positioning application field, so that mobile vehicle is motor vehicles as an example, a kind of Forecasting Methodology is pair The data of preceding more epoch use fitting of a polynomial track and speed and the motion state for predicting motor vehicles subsequent time, however, During vehicle driving, the drive manner of this prediction mode and the shape of real road and the mankind not phase in itself Symbol using the function for more meeting motor vehicles running orbit, it is necessary to be fitted.Another Forecasting Methodology is that more epoch are handled Method be exactly Kalman Algorithm, to more epoch data differences or to fitting function carry out differential, it is current to obtain motor vehicles Motion state, predict and filter the motion state at next moment.However, due to the Kalman filter in navigator fix field Be discrete type, equivalent in an epoch time using at the uniform velocity or it is even acceleration route constraint, if adjacent epoch interval model Enclose interior motor vehicles and steering be present, Kalman filtering algorithm will obtain poor result.
To sum up, a kind of method of determination mobile vehicle positional information and speed is needed badly at present to predict mobile vehicle exactly Motion state.
The content of the invention
The embodiment of the present invention provides a kind of method and receiver for determining mobile vehicle positional information and speed, to determine The positional information of mobile vehicle, complete the prediction to mobile vehicle motion state.
A kind of method for determining mobile vehicle positional information and speed provided in an embodiment of the present invention, including：
Receiver obtains the observation information of N number of satellite in M epoch；M, N is the integer more than or equal to 1；
In the case where N is less than first threshold, the receiver is according to mobile vehicle corresponding with the receiver in institute The motion track information of adjacent preceding P epoch M epoch is stated, determines that movement locus of the mobile vehicle in M epoch is believed Breath；
The receiver in the speed of the preceding P epoch, determines the mobile vehicle in M according to the mobile vehicle The speed of epoch；
The receiver according to the mobile vehicle M epoch motion track information, the speed of M epoch and institute The observation information of N number of satellite is stated, obtains positional information and speed of the mobile vehicle in M epoch.
It is preferred that the receiver according to mobile vehicle corresponding with the receiver in the M epoch adjacent preceding P The motion track information of individual epoch, motion track information of the mobile vehicle in M epoch is determined, including：
The receiver determines the movement according to the speed of the mobile vehicle each epoch in the P epoch The corner of carrier each epoch in the P epoch, so determine the corner of P epoch with；
If the corner of the P epoch and less than or equal to Second Threshold, it is determined that the movement locus of the mobile vehicle is Straight line；If the corner of the P epoch and more than Second Threshold, it is determined that the movement locus of the mobile vehicle is camber line.
It is preferred that the receiver determines the corner of the P epoch and more than Second Threshold, it is determined that the mobile load The movement locus of body is camber line, including：
The receiver obtain M-P-1 epoch into M-1 epoch corner corresponding to each epoch and；Wherein, one Corner corresponding to epoch and the corner sum for referring to each epoch in the 1st epoch to the epoch；
If from corner corresponding to M-P-1 epoch and to corner corresponding to M-1 epoch and reduced state is presented, really The movement locus of the fixed mobile vehicle is camber line in the first direction；
If from corner corresponding to M-P-1 epoch and to corner corresponding to M-1 epoch and increased state is presented, really The movement locus of the fixed mobile vehicle is camber line in a second direction.
It is preferred that the receiver determines institute according to the speed of the mobile vehicle each epoch in the P epoch The corner for each epoch of mobile vehicle being stated in the P epoch, including：
The receiver determines the corner of the i-th epoch in the P epoch in the following manner：
Wherein, θiFor the corner of i-th epoch；ViRepresent the speed of the i-th epoch, Vi+1Represent the speed of i+1 epoch.
It is preferred that the receiver is according to motion track information, the speed of M epoch of the mobile vehicle in M epoch The observation information of rate and N number of satellite, positional information and speed of the mobile vehicle in M epoch are obtained, including：
The receiver obtains N number of Navigation and positioning equations formula according to the observation information of the N number of satellite got；
The receiver according to motion track information and the speed of the M epoch of the mobile vehicle in M epoch, Obtain predicting locator equation；
N number of Navigation and positioning equations formula and prediction locator equation are combined by the receiver, obtain the shifting Positional information and speed of the dynamic load body in M epoch.
It is preferred that N number of Navigation and positioning equations formula and the prediction locator equation are combined by the receiver, Positional information and speed of the mobile vehicle in M epoch are obtained, including：
The prediction locator equation and N number of Navigation and positioning equations formula are combined by the receiver, are obtained Observational equation is as follows：
Wherein, GT=b+ ε1Being obtained according to N number of Navigation and positioning equations formula, T is the parameter of satellite navigation setting, G be the satellite navigation setting parameter coefficient matrix, b be linearisation after residual error, ε1Represent Navigation and positioning equations formula Error；
SM=f (SM-P-1,...,SM-1,g(|V|M-P-1,...,|VM-1|,Δt),Δt)+ε3For the prediction positioning equation Formula, SMFor positional information and speed corresponding to M epoch；SM-P-1For positional information and speed corresponding to M-P-1 epoch；SM-1 For positional information and speed corresponding to M-1 epoch；Δ t be adjacent epoch time interval, ε3For the mistake of distance equation of locus Difference, g (| V |M-P-1,...,|VM-1|, Δ t) represents speed change function, f (SM-P-1..., SM-1,g(|V|M-P-1,...,|VM-1 |, Δ t), Δ t) represent the anticipation function obtained according to the motion track information of M epoch；
The receiver by solving the observational equation, obtain the mobile vehicle M epoch positional information and Speed.
The embodiment of the present invention provides a kind of receiver, including：
Observation information module is obtained, for obtaining the observation information of N number of satellite in M epoch；M, N is more than or equal to 1 Integer；
Motion track information module is determined, in the case of being less than first threshold in N, according to corresponding with the receiver Mobile vehicle in the motion track information of adjacent preceding P epoch M epoch, determine that the mobile vehicle is gone through in M The motion track information of member；
Velocity module is determined, for according to speed of the mobile vehicle in the preceding P epoch, determining the mobile load Speed of the body in M epoch；
Predicted position information and acceleration module, for according to the mobile vehicle M epoch motion track information, The observation information of the speed of M epoch and N number of satellite, obtain positional information and speed of the mobile vehicle in M epoch Degree.
It is preferred that the determination motion track information module is specifically used for：
According to the speed of the mobile vehicle each epoch in the P epoch, determine the mobile vehicle in the P The corner of each epoch in individual epoch, so determine the corner of P epoch with；
If the corner of the P epoch and less than or equal to Second Threshold, it is determined that the movement locus of the mobile vehicle is Straight line；If the corner of the P epoch and more than Second Threshold, it is determined that the movement locus of the mobile vehicle is camber line.
It is preferred that the determination motion track information module is specifically used for：
Obtain M-P-1 epoch into M-1 epoch corner corresponding to each epoch and；Wherein, corresponding to an epoch Corner and the corner sum for referring to each epoch in the 1st epoch to the epoch；
If from corner corresponding to M-P-1 epoch and to corner corresponding to M-1 epoch and reduced state is presented, really The movement locus of the fixed mobile vehicle is camber line in the first direction；
If from corner corresponding to M-P-1 epoch and to corner corresponding to M-1 epoch and increased state is presented, really The movement locus of the fixed mobile vehicle is camber line in a second direction.
It is preferred that the determination motion track information module is specifically used for：
The corner of the i-th epoch in the P epoch is determined in the following manner：
Wherein, θiFor the corner of i-th epoch；ViRepresent the speed of the i-th epoch, Vi+1Represent the speed of i+1 epoch.
It is preferred that the predicted position information and acceleration module are specifically used for：
According to the observation information of the N number of satellite got, N number of Navigation and positioning equations formula is obtained；
According to the mobile vehicle in the motion track information and the speed of the M epoch of M epoch, pre- measure is obtained Azimuth equation formula；
N number of Navigation and positioning equations formula and prediction locator equation are combined, obtain the mobile vehicle in M The positional information and speed of epoch.
It is preferred that the predicted position information and acceleration module are specifically used for：
The prediction locator equation and N number of Navigation and positioning equations formula are combined, obtained observational equation is such as Under：
Wherein, GT=b+ ε1Being obtained according to N number of Navigation and positioning equations formula, T is the parameter of satellite navigation setting, G be the satellite navigation setting parameter coefficient matrix, b be linearisation after residual error, ε1Represent Navigation and positioning equations formula Error；
SM=f (SM-P-1,...,SM-1,g(|V|M-P-1,...,|VM-1|,Δt),Δt)+ε3For the prediction positioning equation Formula, SMFor positional information and speed corresponding to M epoch；SM-P-1For positional information and speed corresponding to M-P-1 epoch；SM-1 For positional information and speed corresponding to M-1 epoch；Δ t be adjacent epoch time interval, ε3For the mistake of distance equation of locus Difference, g (| V |M-P-1,...,|VM-1|, Δ t) represents speed change function, f (SM-P-1,...,SM-1,g(|V|M-P-1,...,|VM-1 |, Δ t), Δ t) represent the anticipation function obtained according to the motion track information of M epoch；
By solving the observational equation, positional information and speed of the mobile vehicle in M epoch are obtained.
In the above embodiment of the present invention, receiver obtains the observation information of N number of satellite in M epoch, is less than first in N In the case of threshold value, receiver is according to mobile vehicle corresponding with the receiver in adjacent preceding P epoch M epoch Motion track information, motion track information of the mobile vehicle in M epoch is determined, so that the mobile vehicle determined Movement locus more tally with the actual situation；Receiver is according to speed of the mobile vehicle in the preceding P epoch, it is determined that described Speed of the mobile vehicle in M epoch, so that the speed determined is more accurate；Receiver is according to the mobile vehicle The observation information of the motion track information of M epoch, speed and N number of satellite, obtains the mobile vehicle in M epoch Positional information and speed.Movement locus and speed are separated by the embodiment of the present invention, determine the motion of mobile vehicle respectively Trace information and speed so that the positional information of mobile vehicle is constrained in movement locus and speed, and then according to by that will move Trace information, speed and observation information are combined to obtain the positional information of mobile vehicle and speed, as a result closer to reality Situation.Can be optionally poor in satellite and under conditions of lacking other sensors, using the way of restraint of above-mentioned movement locus, from most Prediction of the historical information completion to the positional information and speed at mobile vehicle next moment is combined in big degree.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment Accompanying drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this For the those of ordinary skill in field, without having to pay creative labor, it can also be obtained according to these accompanying drawings His accompanying drawing.
Fig. 1 is the method schematic diagram of determination mobile vehicle positional information and speed provided in an embodiment of the present invention；
Fig. 2 a- Fig. 2 b are the different motion track schematic diagram of motor vehicles in the embodiment of the present invention；
Fig. 3 is track schematic diagram of the motor vehicles along movement in a curve in the embodiment of the present invention；
Fig. 4 a- Fig. 4 c are the schematic diagram of mobile vehicle actual motion track and predicted motion track in the embodiment of the present invention；
Fig. 5 is the structural representation of receiver provided in an embodiment of the present invention.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, the present invention is made below in conjunction with accompanying drawing into One step it is described in detail, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole implementation Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made All other embodiment, belongs to the scope of protection of the invention.
The embodiment of the present invention is applicable to a variety of global position systems, such as global positioning system (Global Positioning System, GPS system), Beidou satellite navigation system (BeiDou Navigation Satellite System, abbreviation BDS) etc. can be used for receiver provide positional information satellite system.
Mobile vehicle in the embodiment of the present invention, which for motor vehicles, aircraft, ship or other needs can navigate, to be determined The carrier of position.
Fig. 1 is a kind of method schematic diagram for determining mobile vehicle positional information and speed provided in an embodiment of the present invention, should Method includes step 101 to step 104：
Step 101, receiver obtains the observation information of N number of satellite in M epoch；
Step 102, in the case where N is less than first threshold, the receiver moves according to corresponding with the receiver Carrier determines fortune of the mobile vehicle in M epoch in the motion track information of adjacent preceding P epoch M epoch Dynamic trace information；
Step 103, the receiver determines the movement according to the mobile vehicle in the speed of the preceding P epoch Speed of the carrier in M epoch；
Step 104, the receiver is according to motion track information, the speed of M epoch of the mobile vehicle in M epoch The observation information of rate and N number of satellite, obtain positional information and speed of the mobile vehicle in M epoch.
Speed in the embodiment of the present invention is vector, is displacement and the ratio of time used in displacement, there is direction；Speed is mark Amount, it is the ratio of time used in distance and distance, it is directionless.Speed is the speed of object of which movement, i.e., speed is the size of speed Or it is equivalent to the rate of change of distance.
Specifically, in a step 101, receiver gets the observation information of N number of satellite in M epoch.Under normal circumstances, If receiver obtains the observation information of at least four satellites, positioning calculation directly can be pressed according to the observation information of four satellites Method carries out location Calculation, calculates the positional information of mobile vehicle；If receiver obtains the observation letter less than four satellites Breath, the then result that location Calculation can not be carried out by positioning calculation method or location Calculation is carried out by positioning calculation method are not accurate enough Really.The embodiment of the present invention is exactly that the situation of the observation information less than four satellites is obtained for receiver, there is provided a kind of accurate true Determine the method for mobile vehicle positional information and speed, therefore, it is 4 that first threshold, which can be set,.
In a step 102, the movement locus of mobile vehicle can be to move along a straight line, or along movement in a curve.With Mobile vehicle is exemplified by motor vehicles, motor vehicles can be along straight-line travelling (for example, travelling) on straight road, can also Travel along camber line and (for example, being travelled on bend, or turn round and travel at crossing).
As illustrated in figures 2 a-2b, it is the different motion track schematic diagram of motor vehicles in the embodiment of the present invention.In fig. 2 a, Motor vehicles move along a straight line, it is assumed that speed of the motor vehicles in the i-th epoch is V1, is V2 in the speed of the i-th+k epoch, now Angle between V1 and V2 is 0, i.e., motor vehicles are 0 relative to the corner of the i-th+k epoch in the i-th epoch.In figure 2b, it is motor-driven Vehicle is along movement in a curve, it is assumed that speed of the motor vehicles in the i-th epoch is V3, is V4 in the speed of the i-th+k epoch, now V3 with There is certain angle, the angle is corner of the motor vehicles in the i-th epoch relative to the i-th+k epoch between V4.I, k are Integer more than or equal to 1.
In the embodiment of the present invention, for convenience of describing, corner of the mobile vehicle in the i-th epoch is mobile vehicle i-th -1 Epoch relative to the i-th epoch corner.
Alternatively, in a step 102, the receiver determines the i-th epoch in the P epoch in the following manner Corner：
... formula (1)
Wherein, θiFor the corner of i-th epoch；Vi-1Represent the speed of the i-th -1 epoch, ViRepresent the speed of the i-th epoch.
Alternatively, it is for convenience of the continuity calculated, a kind of mode for the corner sum for determining p epoch：
After mobile vehicle enters motion state, receiver in the 1st epoch according to speed of the mobile vehicle in the 1st epoch, Obtain the corner of the 1st epoch；Receiver, according to speed of the mobile vehicle in the 2nd epoch, obtains turning for the 2nd epoch in the 2nd epoch Angle, and the corner of the 2nd epoch and the corner of the 1st epoch are overlapped, obtain the corner and S of the 1st epoch and the 2nd epoch1-2； Receiver, according to speed of the mobile vehicle in the 3rd epoch, obtains the corner of the 3rd epoch, and the 3rd epoch was turned in the 3rd epoch Angle and the corner and S of the 1st epoch and the 2nd epoch1-2It is overlapped, obtains the corner and S of the 1st epoch to the 3rd epoch1-3；With this To analogize, receiver according to speed of the mobile vehicle in the i-th epoch, obtains the corner of the i-th epoch in the i-th epoch, and by the i-th epoch Corner and the 1st epoch and the i-th -1 epoch corner and be overlapped, obtain the corner and S of the 1st epoch to the i-th epoch1-i.For Convenient description, in the embodiment of the present invention, each epoch in corner corresponding to the i-th epoch and as the 1st epoch to the i-th epoch Corner sum.Therefore, the corner of adjacent preceding P epoch M epoch and as corresponding to M-1 epoch corner and with M-P- The difference of corner sum corresponding to 1 epoch.
In the embodiment of the present invention, by judge corner corresponding to M-1 epoch and corner corresponding with M-P-1 epoch and Function changes to determine the movement locus of motor vehicles, i.e. with an adjacent epoch corner or adjacent several corners and function Difference made comparisons with Second Threshold, adjacent epoch number depends on moonscope sample frequency, and Second Threshold is usually set to 2-3 Error in times satellite orientation, specific basis for estimation are：(1) if the corner of P epoch and less than or equal to Second Threshold, Illustrate that motor vehicles are in the state that moves along a straight line in M epoch；(2) if the corner of P epoch and more than Second Threshold, Illustrate that motor vehicles are in along movement in a curve state in M epoch.
Further, by taking motor vehicles as an example, when motor vehicles are along movement in a curve state, as shown in Figure 3, it may include edge Do movement in a curve and do movement in a curve along the direction of camber line 2 in the direction of camber line 1.In the embodiment of the present invention, to further discriminate between machine Direction of the motor-car along camber line 1 is moved or moved along the direction of camber line 2, can be according to corresponding to M-P-1 epoch to M-1 epoch The situation of change of corner sum determines.With reference in above-mentioned formula (1) to a kind of calculation of corner, according to the change of corner sum To determine that the specific differentiation foundation of movement locus can be：(1) if gone through from corner corresponding to M-P-1 epoch and to M-1 Corner corresponding to member and reduced state is showed, then direction of the motor vehicles along camber line 1 is moved (that is, advances along motor vehicles Turn right in direction)；(2) and if from corner corresponding to M-P-1 epoch and to corner corresponding to M-1 epoch showed increased State, then move (that is, along motor vehicles direction of advance turn left) in direction of the motor vehicles along camber line 2.
It should be noted that above-mentioned differentiation foundation is obtained from the calculation of the corner of each epoch is combined, It is merely illustrative.If changed to the calculation of corner, above-mentioned differentiation foundation can also be made accordingly therewith Adjustment, the embodiment of the present invention are not specifically limited to this.
Using aforesaid way, if it is determined that go out motor vehicles and move along a straight line, then directly can be intended using linear equation Close.
Because circular curve or easement curve are the standing curve forms in road construction turning, the setting of this kind of curve is abundant Motor vehicles turning and human manipulation's feature are considered, is for being fitted and predicting motor vehicles track best curve.Circle is bent Line is target diversion by track at the uniform velocity changing, and easement curve turns to can be set as symmetrical both ends by the rate of change of track Be be peak value among zero function.Therefore, if it is determined that go out motor vehicles along movement in a curve, then can be intended by circular curve equation Close, in the case where only considering two dimensional surface, circular curve has three parameters, central coordinate of circle (x y) and radius R, three parameters Initiation parameter (x0 y0) and R0It can be obtained by simple geometrical relationship, lienarized equation is as follows：
(x-x0)dx+(y-y0)dy-R0DR=0 ... formula (2)
By such as upper type, the profile constraints being mutually combined completion motor vehicles between circular curve and straight line are utilized.
In step 103 and 104, receiver obtains N number of navigator fix side according to the observation information of the N number of satellite got Formula, wherein, a Navigation and positioning equations formula is as follows：
... formula (3)
(X0 Y0 Z0) represent initial user coordinate, (Xs1 Ys1 Zs1) represent satellite coordinate, (dx dy dz) represent use The difference of family actual position and initial position,Represent user's initialization Coordinate is to the distance of satellite, d ρ0=ρ-R0, represent satellite observation ρ and R0Difference, d τ0Receiver clock-offsets are represented, ε represents it Its error and.
Other Navigation and positioning equations formulas are similar to the above, no longer list herein.
Receiver can according to motor vehicles in the mobile vehicle in the speed of the preceding P epoch, determine motor vehicle Motion state be uniform motion or accelerated motion or retarded motion, and then obtain mobile vehicle in the speed side of M epoch Formula is as follows：
|VM|=g (| V |M-P-1,...,|VM-1|,Δt)+ε2... formula (4)
Wherein, | VM| it is the speed of M epoch, | V |M-P-1,...,|VM-1| it is respectively M-P-1 epoch to M-1 epoch Speed, Δ t be adjacent epoch time interval, ε2For the residual error of the rate equation, g () represents speed change function.
Receiver in the motion track information and the speed of the M epoch of M epoch, obtains according to the mobile vehicle Locator equation is predicted, it is as follows：
SM=f (SM-P-1,...,SM-1,g(|V|M-P-1,...,|VM-1|,Δt),Δt)+ε3... formula (5)
Wherein, SMFor positional information and speed corresponding to M epoch；SM-P-1For positional information corresponding to M-P-1 epoch And speed；SM-1For positional information and speed corresponding to M-1 epoch；Δ t be adjacent epoch time interval, ε3For the distance The error of equation of locus, error ε3Probability statistics information can be obtained according to history epoch adaptive polo placement, g (| V |M-P-1,...,|VM-1|, Δ t) represents speed change function, f (SM-P-1,...,SM-1,g(|V|M-P-1,...,|VM-1|,Δt), Δ t) represents the anticipation function obtained according to the motion track information of M epoch, i.e., on the basis of circular curve or straight path, Substitute into speed change function and time, you can predict initial position message and speed of the mobile vehicle in M epoch.
In the embodiment of the present invention, above-mentioned flow path track equation and N number of Navigation and positioning equations formula are combined by receiver, Observational equation is obtained, and then uses weighted least-squares method, obtains positional information of the mobile vehicle in M epoch.Specifically, originally By introducing the anticipation function of positional information and speed in inventive embodiments, add and extra be used to calculate mobile vehicle position The equation of information, the deficiency of satellite number and the effect of filtering navigational parameter can be made up to a certain extent.
The observational equation combined by Navigation and positioning equations formula and prediction locator equation is as follows：
... formula (6)
Wherein, GT=b+ ε1Obtained according to N number of Navigation and positioning equations formula, T is the parameter of satellite navigation setting, and G is Satellite navigation setting parameter coefficient matrix, b be linearisation after residual error, ε1The error of Navigation and positioning equations formula is represented, by mistake Poor ε1Probability statistics information can be empirically derived, SMFor positional information and speed corresponding to M epoch；SM-P-1For M- Positional information and speed corresponding to P-1 epoch；SM-1For positional information and speed corresponding to M-1 epoch；Δ t is adjacent epoch Time interval, ε3For the error of the distance equation of locus, error ε3Probability statistics information can be adaptive according to history epoch It is calculated, g (| V |M-P-1,...,|VM-1|, Δ t) represents speed change function, f (SM-P-1,...,SM-1,g(|V |M-P-1,...,|VM-1|, Δ t), Δ t) represent the anticipation function obtained according to the motion track information of M epoch.
Wherein, least square technology transform is as follows：
... formula (7)
Weight matrix is
The value on each diagonal of/representing matrix in weight matrix, which is equal in 1 divided by array, corresponds to each element.
In the embodiment of the present invention, because forecast model has certain error in itself, so the positional information and speed of prediction There is also error, and moonscope equation is there is also error, so carrying out joint solution to these equations using weighted least-squares Calculate, weight, which is taken from observation or prediction error, moonscope error in equation, can be derived from experience error formula, predictive equation error ART network process is derived from, i.e., error is used as using preceding predicted value and the preceding SS difference for resolving value difference value.
The satellite positioning navigation that method provided in an embodiment of the present invention can apply under normal and complex environment.Receiver N number of satellite is observed in M epoch, receiver can be carried out according to the history epoch information of motion carrier to carrier track and speed Analysis, and the speed and information of this epoch are predicted, with reference to the position of prediction, velocity information and moonscope equation realize joint solution Calculate, show moonscope number deficiency when N is less than first threshold, moonscope number can be made up by predicting the introducing of locator equation Deficiency simultaneously realizes filtering calculation result effect.
Movement locus and speed are separated by the embodiment of the present invention, determine respectively mobile vehicle motion track information and Speed so that the positional information of mobile vehicle is constrained in movement locus and speed, and then according to by by motion track information, speed Rate and observation information are combined to obtain the positional information of mobile vehicle, as a result closer to reality.In the visual feelings of satellite Condition difference and under conditions of lacking other sensors, using the way of restraint of above-mentioned movement locus, from combining history to the full extent Information completes the prediction to the positional information and speed at mobile vehicle next moment.
Fig. 4 a are mobile vehicle actual motion track schematic diagram, and Fig. 4 b are to be measured in advance using the method in the embodiment of the present invention The mobile vehicle running orbit schematic diagram arrived, Fig. 4 c are that the mobile vehicle running orbit for predicting to obtain using Kalman Algorithm is illustrated Figure.Can be seen that by Fig. 4 a and Fig. 4 b, using the method in the embodiment of the present invention predict obtained mobile vehicle running orbit with Mobile vehicle actual motion track has the higher goodness of fit；It can be seen that by Fig. 4 b and Fig. 4 c, using in the embodiment of the present invention The method mobile vehicle running orbit predicting to obtain run rail compared to the mobile vehicle for predicting to obtain using Kalman Algorithm Mark is more smooth, and positioning precision is higher, more tallies with the actual situation.Therefore, the determination mobile vehicle position that the embodiment of the present invention uses Confidence ceases and the method for speed is more suitable for the running orbit for the mobile vehicle being fitted under actual conditions, and to a certain extent Improve positioning precision.Especially, when mobile vehicle does turning motion, the embodiment of the present invention has higher precision of prediction.
For above method flow, the embodiment of the present invention also provides a kind of receiver, and the particular content of the receiver can be with Implement with reference to the above method.
Fig. 5 is the structural representation of receiver provided in an embodiment of the present invention, and the receiver includes：
Observation information module 501 is obtained, for obtaining the observation information of N number of satellite in M epoch；M, N be more than etc. In 1 integer；
Determine motion track information module 502, for N be less than first threshold in the case of, according to the receiver Corresponding mobile vehicle determines the mobile vehicle in the motion track information of adjacent preceding P epoch M epoch The motion track information of M epoch；
Velocity module 503 is determined, in the speed of the preceding P epoch, determining the shifting according to the mobile vehicle Speed of the dynamic load body in M epoch；
Predicted position information and acceleration module 504, for being believed according to movement locus of the mobile vehicle in M epoch The observation information of breath, the speed of M epoch and N number of satellite, obtains positional information of the mobile vehicle in M epoch And speed.
It is preferred that the determination motion track information module 502 is specifically used for：
According to the speed of the mobile vehicle each epoch in the P epoch, determine the mobile vehicle in the P The corner of each epoch in individual epoch, so determine the corner of P epoch with；
If the corner of the P epoch and less than or equal to Second Threshold, it is determined that the movement locus of the mobile vehicle is Straight line；If the corner of the P epoch and more than Second Threshold, it is determined that the movement locus of the mobile vehicle is camber line.
It is preferred that the determination motion track information module 502 is specifically used for：
Obtain M-P-1 epoch into M-1 epoch corner corresponding to each epoch and；Wherein, corresponding to an epoch Corner and the corner sum for referring to each epoch in the 1st epoch to the epoch；
If from corner corresponding to M-P-1 epoch and to corner corresponding to M-1 epoch and reduced state is presented, really The movement locus of the fixed mobile vehicle is camber line in the first direction；
If from corner corresponding to M-P-1 epoch and to corner corresponding to M-1 epoch and increased state is presented, really The movement locus of the fixed mobile vehicle is camber line in a second direction.
It is preferred that the determination motion track information module 502 is specifically used for：
The corner of the i-th epoch in the P epoch is determined in the following manner：
Wherein, θiFor the corner of i-th epoch；ViRepresent the speed of the i-th epoch, Vi+1Represent the speed of i+1 epoch. It is preferred that the predicted position information and acceleration module 504 are specifically used for：
According to the observation information of the N number of satellite got, N number of Navigation and positioning equations formula is obtained；
According to the mobile vehicle in the motion track information and the speed of the M epoch of M epoch, pre- measure is obtained Azimuth equation formula；
N number of Navigation and positioning equations formula and prediction locator equation are combined, obtain the mobile vehicle in M The positional information and speed of epoch.
It is preferred that the predicted position information and acceleration module 504 are specifically used for：
The prediction locator equation and N number of Navigation and positioning equations formula are combined, obtained observational equation is such as Under：
Wherein, GT=b+ ε1Being obtained according to N number of Navigation and positioning equations formula, T is the parameter of satellite navigation setting, G be the satellite navigation setting parameter coefficient matrix, b be linearisation after residual error, ε1Represent Navigation and positioning equations formula Error；SMFor the distance of distance, i.e. M-1 epoch to M epoch mobile vehicles corresponding to M epoch；
SM=f (SM-P-1,...,SM-1,g(|V|M-P-1,...,|VM-1|,Δt),Δt)+ε3For the prediction positioning equation Formula, SMFor positional information and speed corresponding to M epoch；SM-P-1For positional information and speed corresponding to M-P-1 epoch；SM-1 For positional information corresponding to M-1 epoch and time interval that speed Δ t is adjacent epoch, ε3For the mistake of distance equation of locus Difference, g (| V |M-P-1,...,|VM-1|, Δ t) represents speed change function, f (SM-P-1,...,SM-1,g(|V|M-P-1,...,|VM-1 |, Δ t), Δ t) represent the anticipation function obtained according to the motion track information of M epoch；
By solving the observational equation, positional information and speed of the mobile vehicle in M epoch are obtained.
It can be seen from the above：
In the embodiment of the present invention, receiver obtains the observation information of N number of satellite in M epoch, is less than first threshold in N In the case of, receiver according to mobile vehicle corresponding with the receiver adjacent preceding P epoch M epoch motion Trace information, motion track information of the mobile vehicle in M epoch is determined, so that the motion for the mobile vehicle determined Track more tallies with the actual situation；Receiver determines the mobile load according to speed of the mobile vehicle in the preceding P epoch Speed of the body in M epoch, so that the speed determined is more accurate；Receiver is according to the mobile vehicle in M epoch Motion track information, the observation information of speed and N number of satellite, obtain the mobile vehicle in the position of M epoch Information and speed.Movement locus and speed are separated by the embodiment of the present invention, determine the movement locus letter of mobile vehicle respectively Breath and speed so that the positional information of mobile vehicle is constrained in movement locus and speed, and then according to by the way that movement locus is believed Breath, speed and observation information are combined to obtain the positional information of mobile vehicle, as a result closer to reality.Can in satellite Under conditions of the optionally poor and other sensors of shortage, using the way of restraint of above-mentioned movement locus, combined to the full extent Historical information completes the prediction to the positional information and speed at mobile vehicle next moment.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method or computer program product. Therefore, the present invention can be using the embodiment in terms of complete hardware embodiment, complete software embodiment or combination software and hardware Form.Deposited moreover, the present invention can use to can use in one or more computers for wherein including computer usable program code The shape for the computer program product that storage media is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.) Formula.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product Figure and/or block diagram describe.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided The processors of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one The step of function of being specified in individual square frame or multiple square frames.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation Property concept, then can make other change and modification to these embodiments.So appended claims be intended to be construed to include it is excellent Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to comprising including these changes and modification.

Claims (10)

  1. A kind of 1. method for determining mobile vehicle positional information and speed, it is characterised in that including：
    Receiver obtains the observation information of N number of satellite in M epoch；M, N is the integer more than or equal to 1；
    In the case where N is less than first threshold, the receiver is according to mobile vehicle corresponding with the receiver in the M The motion track information of adjacent preceding P epoch epoch, determines motion track information of the mobile vehicle in M epoch；
    The receiver in the speed of the preceding P epoch, determines the mobile vehicle in M epoch according to the mobile vehicle Speed；
    The receiver obtains N number of Navigation and positioning equations formula according to the observation information of the N number of satellite got；And according to described Mobile vehicle obtains predicting locator equation in the motion track information and the speed of the M epoch of M epoch；
    N number of Navigation and positioning equations formula and prediction locator equation are combined by the receiver, obtain the mobile load Positional information and speed of the body in M epoch.
  2. 2. the method as described in claim 1, it is characterised in that the receiver is according to mobile load corresponding with the receiver Body determines motion of the mobile vehicle in M epoch in the motion track information of adjacent preceding P epoch M epoch Trace information, including：
    The receiver determines the mobile vehicle according to the speed of the mobile vehicle each epoch in the P epoch The corner of each epoch in the P epoch, so determine the corner of P epoch with；
    If the corner of the P epoch and less than or equal to Second Threshold, it is determined that the movement locus of the mobile vehicle is straight line； If the corner of the P epoch and more than Second Threshold, it is determined that the movement locus of the mobile vehicle is camber line.
  3. 3. method as claimed in claim 2, it is characterised in that the receiver determines the corner of the P epoch and is more than Second Threshold, it is determined that the movement locus of the mobile vehicle is camber line, including：
    The receiver obtain M-P-1 epoch into M-1 epoch corner corresponding to each epoch and；Wherein, an epoch Corresponding corner and the corner sum for referring to each epoch in the 1st epoch to the epoch；
    If from corner corresponding to M-P-1 epoch and to corner corresponding to M-1 epoch and reduced state is presented, it is determined that institute The movement locus for stating mobile vehicle is camber line in the first direction；
    If from corner corresponding to M-P-1 epoch and to corner corresponding to M-1 epoch and increased state is presented, it is determined that institute The movement locus for stating mobile vehicle is camber line in a second direction.
  4. 4. method as claimed in claim 2, it is characterised in that the receiver is gone through according to the mobile vehicle at the P The speed of each epoch in member, the corner for each epoch that determines the mobile vehicle in the P epoch, including：
    The receiver determines the corner of the i-th epoch in the P epoch in the following manner：
    <mrow> <msub> <mi>&amp;theta;</mi> <mi>i</mi> </msub> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mi>i</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>V</mi> <mrow> <mi>i</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> </mrow> <mrow> <mrow> <mo>|</mo> <msub> <mi>V</mi> <mi>i</mi> </msub> <mo>|</mo> </mrow> <mrow> <mo>|</mo> <msub> <mi>V</mi> <mrow> <mi>i</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>|</mo> </mrow> </mrow> </mfrac> <mo>)</mo> </mrow> <mi>sgn</mi> <mo>,</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>i</mi> <mi>f</mi> </mrow> </mtd> <mtd> <mrow> <msub> <mi>V</mi> <mi>i</mi> </msub> <mo>&amp;times;</mo> <msub> <mi>V</mi> <mrow> <mi>i</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>&gt;</mo> <mn>0</mn> </mrow> </mtd> <mtd> <mrow> <mi>sgn</mi> <mo>=</mo> <mo>-</mo> <mn>1</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>i</mi> <mi>f</mi> </mrow> </mtd> <mtd> <mrow> <msub> <mi>V</mi> <mi>i</mi> </msub> <mo>&amp;times;</mo> <msub> <mi>V</mi> <mrow> <mi>i</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>&lt;</mo> <mn>0</mn> </mrow> </mtd> <mtd> <mrow> <mi>sgn</mi> <mo>=</mo> <mn>1</mn> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>
    Wherein, θiFor the corner of i-th epoch；ViRepresent the speed of the i-th epoch, Vi+1Represent the speed of i+1 epoch.
  5. 5. method as claimed in claim 4, it is characterised in that the receiver is by N number of Navigation and positioning equations formula and institute State prediction locator equation to be combined, obtain positional information and speed of the mobile vehicle in M epoch, including：
    The prediction locator equation and N number of Navigation and positioning equations formula are combined by the receiver, obtained observation Equation is as follows：
    <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>G</mi> <mi>T</mi> <mo>=</mo> <mi>b</mi> <mo>+</mo> <msub> <mi>&amp;epsiv;</mi> <mn>1</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>S</mi> <mi>M</mi> </msub> <mo>=</mo> <mi>f</mi> <mrow> <mo>(</mo> <msub> <mi>S</mi> <mrow> <mi>M</mi> <mo>-</mo> <mi>P</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>,</mo> <mn>...</mn> <mo>,</mo> <msub> <mi>S</mi> <mrow> <mi>M</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>,</mo> <mi>g</mi> <mo>(</mo> <mrow> <mrow> <mo>|</mo> <msub> <mi>V</mi> <mrow> <mi>M</mi> <mo>-</mo> <mi>P</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>|</mo> </mrow> <mo>,</mo> <mn>...</mn> <mo>,</mo> <mrow> <mo>|</mo> <msub> <mi>V</mi> <mrow> <mi>M</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>|</mo> </mrow> <mo>,</mo> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> <mo>)</mo> <mo>,</mo> <mi>&amp;Delta;</mi> <mi>t</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>&amp;epsiv;</mi> <mn>3</mn> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced>
    Wherein, GT=b+ ε1Obtained according to N number of Navigation and positioning equations formula, T is the parameter of satellite navigation setting, and G is institute State satellite navigation setting parameter coefficient matrix, b be linearisation after residual error, ε1Represent the error of Navigation and positioning equations formula；
    SM=f (SM-P-1,…,SM-1,g(|VM-P-1|,…,|VM-1|,Δt),Δt)+ε3For the prediction locator equation, SMFor Positional information and speed corresponding to M epoch；SM-P-1For positional information and speed corresponding to M-P-1 epoch；SM-1For M-1 Positional information corresponding to epoch and speed；Δ t be adjacent epoch time interval, ε3For the error of distance equation of locus, g (| VM-P-1|,…,|VM-1|, Δ t) represents speed change function, f (SM-P-1,…,SM-1,g(|VM-P-1|,…,|VM-1|,Δt),Δ T) anticipation function obtained according to the motion track information of M epoch is represented；
    The receiver obtains positional information and speed of the mobile vehicle in M epoch by solving the observational equation.
  6. A kind of 6. receiver, it is characterised in that including：
    Observation information module is obtained, for obtaining the observation information of N number of satellite in M epoch；M, N is whole more than or equal to 1 Number；
    Motion track information module is determined, in the case of being less than first threshold in N, is moved according to corresponding with the receiver Dynamic load body determines the mobile vehicle in M epoch in the motion track information of adjacent preceding P epoch M epoch Motion track information；
    Velocity module is determined, in the speed of the preceding P epoch, determining that the mobile vehicle exists according to the mobile vehicle The speed of M epoch；
    Predicted position information and acceleration module, for the observation information according to the N number of satellite got, obtain N number of navigator fix Equation；And predicted according to the mobile vehicle in the motion track information and the speed of the M epoch of M epoch Locator equation；
    And be combined N number of Navigation and positioning equations formula and prediction locator equation, the mobile vehicle is obtained in M The positional information and speed of epoch.
  7. 7. receiver as claimed in claim 6, it is characterised in that the determination motion track information module is specifically used for：
    According to the speed of the mobile vehicle each epoch in the P epoch, determine that the mobile vehicle is gone through at the P The corner of each epoch in member, so determine the corner of P epoch with；
    If the corner of the P epoch and less than or equal to Second Threshold, it is determined that the movement locus of the mobile vehicle is straight line； If the corner of the P epoch and more than Second Threshold, it is determined that the movement locus of the mobile vehicle is camber line.
  8. 8. receiver as claimed in claim 7, it is characterised in that the determination motion track information module is specifically used for：
    Obtain M-P-1 epoch into M-1 epoch corner corresponding to each epoch and；Wherein, corner corresponding to an epoch With the corner sum for referring to each epoch in the 1st epoch to the epoch；
    If from corner corresponding to M-P-1 epoch and to corner corresponding to M-1 epoch and reduced state is presented, it is determined that institute The movement locus for stating mobile vehicle is camber line in the first direction；
    If from corner corresponding to M-P-1 epoch and to corner corresponding to M-1 epoch and increased state is presented, it is determined that institute The movement locus for stating mobile vehicle is camber line in a second direction.
  9. 9. receiver as claimed in claim 7, it is characterised in that the determination motion track information module is specifically used for：
    The corner of the i-th epoch in the P epoch is determined in the following manner：
    <mrow> <msub> <mi>&amp;theta;</mi> <mi>i</mi> </msub> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>c</mi> <mi>o</mi> <mi>s</mi> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>V</mi> <mi>i</mi> </msub> <mo>&amp;CenterDot;</mo> <msub> <mi>V</mi> <mrow> <mi>i</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> </mrow> <mrow> <mrow> <mo>|</mo> <msub> <mi>V</mi> <mi>i</mi> </msub> <mo>|</mo> </mrow> <mrow> <mo>|</mo> <msub> <mi>V</mi> <mrow> <mi>i</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>|</mo> </mrow> </mrow> </mfrac> <mo>)</mo> </mrow> <mi>sgn</mi> <mo>,</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>i</mi> <mi>f</mi> </mrow> </mtd> <mtd> <mrow> <msub> <mi>V</mi> <mi>i</mi> </msub> <mo>&amp;times;</mo> <msub> <mi>V</mi> <mrow> <mi>i</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>&gt;</mo> <mn>0</mn> </mrow> </mtd> <mtd> <mrow> <mi>sgn</mi> <mo>=</mo> <mo>-</mo> <mn>1</mn> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>i</mi> <mi>f</mi> </mrow> </mtd> <mtd> <mrow> <msub> <mi>V</mi> <mi>i</mi> </msub> <mo>&amp;times;</mo> <msub> <mi>V</mi> <mrow> <mi>i</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>&lt;</mo> <mn>0</mn> </mrow> </mtd> <mtd> <mrow> <mi>sgn</mi> <mo>=</mo> <mn>1</mn> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>
    Wherein, θiFor the corner of i-th epoch；ViRepresent the speed of the i-th epoch, Vi+1Represent the speed of i+1 epoch.
  10. 10. receiver as claimed in claim 9, it is characterised in that the predicted position information and acceleration module are specifically used for：
    The prediction locator equation and N number of Navigation and positioning equations formula are combined, obtained observational equation is as follows：
    <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mi>G</mi> <mi>T</mi> <mo>=</mo> <mi>b</mi> <mo>+</mo> <msub> <mi>&amp;epsiv;</mi> <mn>1</mn> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>S</mi> <mi>M</mi> </msub> <mo>=</mo> <mi>f</mi> <mrow> <mo>(</mo> <msub> <mi>S</mi> <mrow> <mi>M</mi> <mo>-</mo> <mi>P</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>,</mo> <mn>...</mn> <mo>,</mo> <msub> <mi>S</mi> <mrow> <mi>M</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>,</mo> <mi>g</mi> <mo>(</mo> <mrow> <mrow> <mo>|</mo> <msub> <mi>V</mi> <mrow> <mi>M</mi> <mo>-</mo> <mi>P</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>|</mo> </mrow> <mo>,</mo> <mn>...</mn> <mo>,</mo> <mrow> <mo>|</mo> <msub> <mi>V</mi> <mrow> <mi>M</mi> <mo>-</mo> <mn>1</mn> </mrow> </msub> <mo>|</mo> </mrow> <mo>,</mo> <mi>&amp;Delta;</mi> <mi>t</mi> </mrow> <mo>)</mo> <mo>,</mo> <mi>&amp;Delta;</mi> <mi>t</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>&amp;epsiv;</mi> <mn>3</mn> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced>
    Wherein, GT=b+ ε1Obtained according to N number of Navigation and positioning equations formula, T is the parameter of satellite navigation setting, and G is institute State satellite navigation setting parameter coefficient matrix, b be linearisation after residual error, ε1Represent the error of Navigation and positioning equations formula；
    SM=f (SM-P-1,…,SM-1,g(|VM-P-1|,…,|VM-1|,Δt),Δt)+ε3For the prediction locator equation, SMFor Positional information and speed corresponding to M epoch；SM-P-1For positional information and speed corresponding to M-P-1 epoch；SM-1For M-1 Positional information corresponding to epoch and speed；Δ t be adjacent epoch time interval, ε3For the error of distance equation of locus, g (| VM-P-1|,…,|VM-1|, Δ t) represents speed change function, f (SM-P-1,…,SM-1,g(|VM-P-1|,…,|VM-1|,Δt),Δ T) anticipation function obtained according to the motion track information of M epoch is represented；
    By solving the observational equation, positional information and speed of the mobile vehicle in M epoch are obtained.
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