Research On Combined Positioning Technology In The Unlocking Environment Of Satellite Signal

The current general navigation solution for vehicles is a integrated satellite navigation/inertial navigation solution.The integrated navigation solution combines the advantages of two navigation subsystems and it can provide accurate and reliable navigation information.However,with the development of urban modernization,dense high-rise buildings,urban tunnels and other environments will interfere with the normal reception of GPS signals,or even block the signals which making it difficult for the integrated navigation system to maintain normal operation.Therefore,the research on the positioning technology when the satellite signal denied is significant and valuable.This article focuses on the research on positioning technology and propose the dual LSTM auxiliary prediction schemes to deal with satellite signal outages.The details are as follows:First,it explains the importance of studying the positioning problem in the satellite signal denied environment,and introduces the current domestic and foreign development status of mainstream solutions like traditional filtering-based integrated positioning algorithms and AI-assisted positioning algorithms.At the same time,the navigation system coordinate system,the error equation of the Inertial Navigation System(INS)and the basic knowledge of integrated navigation are introduced.It also gave an overall navigation plan for the satellite signal outages problem,which laid the theoretical foundation of the entire navigation and positioning system.Then,study the positioning scheme using filter estimation compensation The bias of the inertial device is estimated through the filter algorithm,and then the output of the inertial device is compensated to improve the positioning accuracy of the integrated navigation system when the measurement is lost in a short time.Through the simulation experiments and field tests show that the estimated compensation scheme based on cubature Kalman filter(CKFC)has achieved the best results.Finally,focus on GPS signals outages with a long time when vehicles running in an urban environment may encounter urban tunnels,continuous tall buildings and other environments,which may cause the duration of the satellite signal outages increase.Finally,in view of the problem of long-term satellite signals outages due to urban tunnels,continuous tall buildings and other environments when vehicles are running in an urban environment,a positioning scheme based on the dual LSTM model during GPS outages is proposed.In the proposed dual-model,the first LSTM model is used to predict the measurement information of the navigation system in the unlocked environment,and the second LSTM model is used to assist the interactive multiple model which relates the model conversion probability,the filter weight parameters and IMM’s estimation error,it can improve the adaptability of the system in the noise environment.The positioning scheme LSTM-LSTMAIMM,which combines two LSTM prediction models,takes full advantage of the two LSTM prediction models.The simulation data and actual measurement data are used to verify the proposed combined positioning algorithm,and its performance in different environments is tested.It is verified through experiments that the positioning scheme based on dual LSTM has the better positioning performance.