公开(公告)号：US20150153460A1

公开(公告)日：2015-06-04

申请号：US14405474

申请日：2013-06-25

Applicant: ST-Ericsson SA

Inventor： Peter Fleming

IPC: G01S19/49 ,  G01C21/00

CPC classification number: G01S19/49 ,  G01C21/00 ,  G01C21/165 ,  G01S5/0294

Abstract: A sequential estimation method for real-time positioning or navigation systems is performed by, at each iteration: propagating a first state estimate into a state prediction, and then forming a second state estimate, by updating the state prediction using state measurements. The first state estimate is valid at a first time and comprises estimated values of a plurality of state parameters, the plurality of state parameters including at least one state parameter referring to a time earlier than the first time. The second state estimate is valid at a second time and comprises estimated values of said plurality of state parameters, the plurality of state parameters including at least one state parameter referring to a time earlier than the second time. The state measurements comprise measurements relating to state parameters at the second time and measurements relating to state parameters at the time earlier than the second time.

Abstract translation: 通过在每次迭代中执行用于实时定位或导航系统的顺序估计方法：通过使用状态测量更新状态预测来将第一状态估计传播到状态预测中，然后形成第二状态估计。 第一状态估计在第一时间是有效的并且包括多个状态参数的估计值，所述多个状态参数包括参考早于第一时间的时间的至少一个状态参数。 第二状态估计在第二时间是有效的，并且包括所述多个状态参数的估计值，所述多个状态参数包括参考早于第二时间的时间的至少一个状态参数。 状态测量包括与第二次的状态参数相关的测量以及与在第二次之前的时间相关的状态参数的测量。