公开(公告)号：US10422883B2

公开(公告)日：2019-09-24

申请号：US16309939

申请日：2016-06-27

Applicant: Southeast University

Inventor： Yuan Zhuang ,  Jinfeng Ma ,  Longning Qi ,  Xinning Liu ,  Jun Yang

IPC: G01S19/40 ,  G01S19/42 ,  G01S19/37

Abstract: A positioning method using height-constraint-based extended Kalman filter, suitable for a GNSS navigation and positioning system, comprises: obtaining an estimated state value of a current epoch by using an extended Kalman filter algorithm and according to an estimated state value of a previous epoch; constraining a positioning height of the current epoch by establishing a height constraint condition, so as to obtain an optimum estimated value of the current epoch and a corresponding mean square error, wherein the optimum estimated value satisfies the height constraint condition; further correcting the estimated state value by using a pseudorange obtained from the mean square error and a measured Doppler shift residual to obtain a final estimated state value of the current epoch, thus more accurately obtaining positioning information of a target to be positioned in the current epoch and enhancing the accuracy of GNSS navigation and positioning.