METHOD AND DEVICE FOR GNSS POINT POSITIONING

摘要

A method and device for GNSS point positioning. The method comprises : establishing a dynamic model and an observation mode based on Kalman filtering; according to the established dynamic and observation models, acquiring a first predicted state value and a variance matrix of the first predicted state value; calculating a gain matrix according to the acquired variance matrix of the first predicted state value, a design matrix and an observation error variance matrix; calculating a second predicted state value according to the acquired first predicted state value, the design matrix, observation values and the gain matrix; calculating a variance matrix of the second predicted state value according to the acquired variance matrix of the first predicted state value, the gain matrix and the design matrix; and acquiring a smooth speed, and calculating a state value of a next point in time and a variance matrix of the state value according to the acquired smooth speed, the second predicted state value and the variance matrix of the second predicted state value.