Vehicle-mounted gnss positioning method based on multi-motion model interaction

A vehicle-mounted GNSS positioning method based on multi-motion model interaction, comprising:

• establishing a heuristic position-velocity filtering with constant velocity model (PCV) and a position-velocity filtering with constant steering angular velocity model (PCSAV) for two attitudes of a carrier (i.e., linear motion and turning motion) respectively to obtain a state estimation vector and a state transition matrix of the carrier of the PCV model and the PCSAV model at a previous moment, wherein the state estimation vector comprises a position and velocity of the carrier, and the state transition matrix is configured to transform the state estimation vector at the previous moment into a state prediction vector at the current moment;
• and
• introducing an interacting multiple model (IMM), and establishing a heuristic position-velocity filtering (HPV)-IMM model based on the IMM model, wherein the HPV-IMM model performs a measurement update on a state prediction vector and an error covariance matrix of the carrier of the PCV model and the PCSAV model at a current moment, to obtain the state vector and the error covariance matrix of the carrier of the PCV model and the PCSAV model at the current moment after a measurement update;
• and fusing the state vector and the error covariance matrix of the carrier of the PCV model and the PCSAV model at the current moment after the measurement update to obtain the state estimation vector and the error covariance matrix of the carrier at the current moment, and obtaining a position and velocity of the carrier at the current moment according to the state estimation vector of the carrier at the current moment.