Synergic positioning method and system based on three-dimensional map assisted GNSS, positioning equipment and storage medium

Abstract

The invention relates to a synergic positioning method and system based on a three-dimensional map assisted GNSS, positioning equipment and a storage medium. By combining a light tracking algorithm and a dual difference method, the light tracking algorithm is used for obtaining an absolute position of a road user, the region where the road user is located is uniformly gridded, NLOS error correction is performed on grid pseudo-ranges to obtain a correction value, grids belonging to different road users are paired in pairs randomly, dual-difference-method calculation is adopted on the grid pseudo-range correction value, the grid pair posterior probability is calculated, weighted average calculation is performed to obtain the relative distance of the road users, and errors caused by the NLOSeffect and remaining abnormal errors are corrected; a factor graph is introduced as the optimized decision for the positioning problem, the uncertainty of each constraint is determined, and the positioning result is calculated through price function calculation. 本发明具体涉及一种基于三维地图辅助GNSS的协同定位方法及系统、定位设备、存储介质，结合光线追踪算法和双差分法，利用光线追踪算法获得道路使用者的绝对位置，对道路使用者所处区域均匀地网格化，对网格的伪距进行NLOS误差校正得到修正值，对属于不同道路使用者的网格进行两两随机配对，对网格的伪距修正值使用双差分法计算，并计算网格对的后验概率，通过加权平均计算得到道路使用者的相对距离，纠正了因NLOS效应引起的误差和其余异常误差；引入因子图作为定位问题的优化决策，确定每个约束的不确定度，通过代价函数计算定位结果。