CN100516777C - GPS/INS combined locating navigation system and testing and correcting method for speed rate thereof - Google Patents

GPS/INS combined locating navigation system and testing and correcting method for speed rate thereof Download PDF

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Publication number
CN100516777C
CN100516777C CNB2007100197734A CN200710019773A CN100516777C CN 100516777 C CN100516777 C CN 100516777C CN B2007100197734 A CNB2007100197734 A CN B2007100197734A CN 200710019773 A CN200710019773 A CN 200710019773A CN 100516777 C CN100516777 C CN 100516777C
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gps
signal
rate
ins
module
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CNB2007100197734A
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CN101017097A (en
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秦春达
姜加伟
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江苏华科导航科技有限公司
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Abstract

This invention relates to one GPS/INS combination position guide system and its speed test correction method, wherein, the system comprises CPU unit, INS module, GPS receiver and touch screen control unit, wherein, the INS module generated speed impulse signals and movable rotation signal into GPS receiver impulse signal input end and angle signal input end; GPS receiver position guide signal output end is through latitude signals through signal speed impulse displacement value, speed impulse signal into position guide signal input end.

Description

GPS/INS combined positioning and navigating system and testing and correcting method for speed rate thereof

Technical field

The present invention relates to a kind of GPS/INS combined positioning and navigating system and testing and correcting method for speed rate thereof.

Background technology

Mainstream technology is GPS (Global Position System NAVSTAR) system on the vehicle mounted guidance market.Gps system is distributed in the wireless signal compute location information of 24 satellite transmissions of sky by reception, have advantages such as global, round-the-clock, high precision, real-time positioning, but because the rectilinear propagation characteristic of wireless signal, its dynamic property and antijamming capability are relatively poor, when the GPS receiver is near tunnel, tree shade or high building, satellite-signal is blocked, and influence is accurately located even can't be located.

INS (Inertial Navigation System inertial positioning navigational system) system has the independent navigation ability, can independently provide locating navigation informations such as attitude of carrier, speed and position, and anti-external interference ability is strong.Along with the development of inertial gyroscope technology in the INS system, the INS system applies in gps system, has promptly been produced GPS/INS combined positioning and navigating system, this system can position navigation by the INS system when the GPS location navigation is influenced.Constantly increase but the location navigation error of INS system continues in time, i.e. the accumulation of error, drift greatly.

The INS system comprises gyroscope and rate sensor.Angular velocity in gyroscope survey mobile vehicle (is example with the automobile) traveling process, the i.e. angle value that is turned in the unit interval; The speed of rate sensor measured automobiles is to realize the location navigation of INS system.So the error of INS system when location navigation comprises rate error and angular error.The method of INS systematic survey automobile speed is: rate sensor produces corresponding rate pulse signal according to the number of turns of wheel turnover, and the back is according to the frequency computation part vehicle speed of described pulse signal.So the error of rate pulse signal has caused rate error; In addition, the tire size difference of different vehicle has further increased rate error.

Therefore, how utilizing gps signal to proofread and correct the rate error of INS system when location navigation, is that GPS/INS combined positioning and navigating system improves location navigation precision technical barrier to be solved.

Summary of the invention

Technical matters to be solved by this invention provides a kind of rate error of the location navigation that is used to proofread and correct the INS system to improve the GPS/INS combined positioning and navigating system and the testing and correcting method for speed rate thereof of location navigation precision.

For solving the problems of the technologies described above, GPS/INS combined positioning and navigating of the present invention system, is used to receive the gps receiver of longitude and latitude signal and controls the unit with the two-way touch-screen that is electrically connected of CPU element CPU element, INS module; The INS module produces rate pulse signal input end and the angle signal input end that corresponding rate pulse signal and mobile angular signal are sent into gps receiver respectively according to rate travel, and according to described longitude and latitude signal pairing displacement value of single speed pulse and mobile angular signal is carried out error correction by gps receiver; The location navigation signal output part of gps receiver is with described longitude and latitude signal, rate pulse signal, through the pairing displacement value of single speed pulse of error correction with deliver to the location navigation signal input part of CPU element through the mobile angular signal of error correction; When gps receiver can normally receive the longitude and latitude signal, CPU element only according to gps receiver receive the longitude and latitude signal control the unit by touch-screen and position navigation; And only when gps receiver receives the longitude and latitude signal and disturbed, CPU element is according to described rate pulse signal, through the pairing displacement value of single speed pulse of error correction with control the unit through the mobile angular signal of error correction by touch-screen and position navigation.

In the technique scheme, the INS module comprises the rate detecting unit that is used for the generating rate pulse signal and is used to generate the gyro unit of mobile angular signal; The rate pulse signal output terminal of INS module and angle signal output terminal connect the rate pulse signal input end and the angle signal input end of gps receiver respectively.

In the technique scheme, gps receiver comprises: the radio frequency amplifier that the GPS module links to each other with radio-frequency (RF) signal input end with the GPS module; The signal input part of radio frequency amplifier links to each other with gps antenna; The angle signal input end of gps receiver and rate pulse signal input end are respectively the angle signal input end and the rate pulse signal input end of GPS module; The location navigation signal output part of gps receiver is the location navigation signal output part of GPS module.

The testing and correcting method for speed rate of above-mentioned GPS/INS combined positioning and navigating system comprises the steps:

Gps antenna in A, the gps receiver receives gps signal, sends into the GPS module through radio frequency amplifier, and the GPS module obtains the longitude and latitude signal of current location;

Rate detecting unit in B, the INS module is according to rate travel generating rate pulse signal and send into the rate pulse signal input end of GPS module;

C, GPS module judge according to the longitude and latitude signal of each point on the mobile alignment whether current mobile alignment is line of collimation, and described line of collimation is a corner less than 15 ° curve;

D, when the GPS module records described mobile alignment and is line of collimation, the GPS module to carrying out error correction from the pairing displacement value of single speed pulse in the rate pulse signal of INS module, and is delivered to the pairing displacement value of single speed pulse after the error correction location navigation signal input part of CPU element according to described longitude and latitude signal.

In the technique scheme, among the above-mentioned steps D, the step that the pairing displacement value of single speed pulse is carried out error correction comprises: the GPS module is designated as mobile starting point to current longitude and latitude signal post, begin to move from this starting point, when recording the air line distance of 1 a between the described starting point and be preset value, the GPS module is labeled as terminal point to described some a; Above-mentioned the pairing displacement value of single speed pulse is carried out the step of error correction during, the speed pulse sum that the INS module is produced between the described terminal point in described starting point under the GPS module records; The GPS module goes out the length of the mobile alignment between described starting point and the terminal point according to the longitude and latitude calculated signals of each point on the mobile alignment between described starting point and the terminal point, being divided by with described speed pulse sum then promptly draws the pairing distance value of single speed pulse, promptly finishes the error correction to the pairing distance value of single speed pulse.

In the technique scheme, described preset value is at least 1km.

In the technique scheme, the spacing of each point can be made as 0.1m-1m on the described mobile alignment.

In the technique scheme, repeat above-mentioned step at least 5 times of the pairing displacement value of single speed pulse being carried out error correction, and adopt the difference algorithm that the pairing distance value of single speed pulse is carried out the second order error correction, and obtain the pairing displacement value of single speed pulse after second order error is proofreaied and correct.

In the technique scheme, the pairing distance value of single speed pulse is carried out the second order error timing, the length that gets 5 sections mobile alignments is respectively s 1, s 2, s 3, s 4And s 5, s then 01=(s 2-s 1)/(n 2-n 1), s 02=(s 3-s 1)/(n 3-n 1), s 03=(s 4-s 1)/(n 4-n 1), s 04=(s 5-s 1)/(n 5-n 1), s 05=(s 3-s 2)/(n 3-n 2), s 06=(s 4-s 2)/(n 4-n 2), s 07=(s 5-s 2)/(n 5-n 2), s 08=(s 4-s 3)/(n 4-n 3), s 09=(s 5-s 3)/(n 5-n 3), s 010=(s 5-s 4)/(n 5-n 4); Ask above-mentioned s 01To s 010Average, the pairing displacement value of the single speed pulse s after promptly obtaining second order error and proofreading and correct 0

In the technique scheme, the GPS module is regularly carried out error correction to the pairing displacement value of single speed pulse and is stored the described pairing displacement value of single speed pulse after error correction.

The present invention has positive effect: longitude and latitude signal correction pairing distance value of single speed pulse and mobile gyration value that (1) GPS/INS combined positioning and navigating of the present invention system utilizes gps receiver to receive, to be blocked at satellite-signal, when gps receiver reception longitude and latitude signal is disturbed, can only depend on the INS system more accurately to navigate, so with respect to prior art, this system has reduced rate error and mobile gyration error, the location navigation error that has solved the INS system continues continuous increase in time, it is the accumulation of error, the big technical matters of drifting about, also solved the difference of using tire size because of various vehicles, the INS system rate detection error that pavement behavior factor etc. is caused has improved the location navigation precision of GPS/INS combined positioning and navigating system.(2) in the testing and correcting method for speed rate of the present invention, when the GPS module records described mobile alignment and is line of collimation, the GPS module just according to the longitude and latitude signal to carrying out error correction from the pairing displacement value of single speed pulse in the rate pulse signal of INS module; Described line of collimation is a corner less than 15 ° curve.If the corner of mobile alignment is greater than 15 °, then the speed umber of pulse of the corresponding generation of INS module exists than mistake, and inconvenience is used for described error correction.(3) in the testing and correcting method for speed rate of the present invention, when the pairing displacement value of single speed pulse is carried out error correction, starting point air line distance to terminal is made as preset value, is convenient to calculate the pairing distance value of single speed pulse.Described preset value is at least 1km, and this value is big more, and the pairing distance value of single speed pulse that draws is just accurate more.The spacing of each point can be made as 0.1m-1m on the mobile alignment, and this value is more little, and the pairing distance value of single speed pulse that draws is just accurate more.(4) among the present invention, GPS module regularly (as 1 time) is carried out error correction to the pairing displacement value of single speed pulse.Because when reality was used, rate detecting unit in the INS module and gyro unit often existed machine error, use error of a specified duration more just big more, regularly the pairing displacement value of single speed pulse is carried out error correction, can in time reduce error.

Description of drawings

Fig. 1 is the circuit theory diagrams of GPS/INS combined positioning and navigating of the present invention system;

Fig. 2 is the flow chart of the angular detection bearing calibration of GPS/INS combined positioning and navigating of the present invention system.

It is the flow chart of the testing and correcting method for speed rate of the 3 GPS/INS combined positioning and navigating systems of inventing.

Embodiment

(embodiment 1)

See Fig. 1, the GPS/INS combined positioning and navigating system of present embodiment is applicable to the carrier that automobile, steamer etc. can move along straight line, and it comprises: CPU element 1, INS module 2, the gps receiver 3 and the touch-screen that are used to receive the longitude and latitude signal are controlled unit 4.

Gps receiver 3 comprises: the radio frequency amplifier 32 that GPS module 31 links to each other with radio-frequency (RF) signal input end with GPS module 31; The signal input part of radio frequency amplifier 32 links to each other with gps antenna.

INS module 2 comprises: the rate detecting unit 21 and the gyro unit 22 that is used to generate mobile angular signal that are used for the generating rate pulse signal; The angle signal input end of the angle signal output termination GPS module 31 of gyro unit 22; The rate pulse signal input end of the rate pulse signal output termination GPS module 31 of rate detecting unit 21; The two-way electrical connection of navigator fix navigation signal input end of the location navigation signal output part of GPS module 31 and CPU element 1.The demonstration that the demonstration of CPU element 1 control communication ends and touch-screen are controlled unit 4 controls that communication ends is two-way to be electrically connected.

The principle of work of the location navigation of the GPS/INS combined positioning and navigating system of present embodiment is as follows:

After system opened, the navigator fix navigation signal input end of the location navigation signal output part of GPS module 31 and CPU element 1 carried out protocol handshake; Then, gps receiver 3 is started working, and the latitude and longitude information at the carrier place that records is sent into CPU element 1, CPU element 1 according to gps receiver 3 receive the longitude and latitude signal control unit 4 by touch-screen and position navigation.

After carrier began to move, the gyro unit 22 in the INS module 2 constantly detected the rotational angle of carrier on mobile alignment, and the rotational angle signal that records is delivered to the rotational angle signal input part of GPS module 31; Simultaneously, described rate detecting unit 21 produces corresponding rate pulse signal according to rate travel and described rate pulse signal is sent into the rate pulse signal input end of the GPS module 31 in the gps receiver 3.

If do not store pairing displacement value of single speed pulse and the offset α that is used for mobile angular signal is carried out error correction in the gps receiver 3 through error correction, then according to described longitude and latitude signal pairing displacement value of single speed pulse and mobile angular signal are carried out error correction by gps receiver 3, draw through the pairing displacement value of single speed pulse of error correction and be used for mobile angular signal is carried out the offset α of error correction, and store; Then, will draw mobile angular signal from the described offset α of rotational angle signal combination of 22 generations of gyro unit in the INS module 2 through error correction.

If stored pairing displacement value of single speed pulse and the offset α that is used for mobile angular signal is carried out error correction in the gps receiver 3 through error correction, then GPS module 31 is at first carried out error correction with the described offset α of described rotational angle signal combination, and draws the mobile angular signal through error correction.(for example, if the angle value of the mobile angular signal correspondence that gps receiver 3 receives is θ 3, then the angle value through the mobile angular signal correspondence of error correction is θ 3+ α.In other embodiments, also can be according to θ 3The size of value, the α of increase corresponding proportion.)

Then, the location navigation signal output part of gps receiver 3 is with described longitude and latitude signal, rate pulse signal, through the pairing displacement value of single speed pulse of error correction with deliver to the location navigation signal input part of CPU element 1 through the mobile angular signal of error correction.

Only when receiving the longitude and latitude signals at gps receiver 3 and disturbed, CPU element 1 is according to described rate pulse signal, through the pairing displacement value of single speed pulse of error correction with control unit 4 through the mobile angular signal of error correction by touch-screen and position navigation.

When gps receiver 3 can normally receive the longitude and latitude signal, CPU element 1 only according to gps receiver 3 receive the longitude and latitude signal control unit 4 by touch-screen and position navigation.

See Fig. 3, the step of the testing and correcting method for speed rate of above-mentioned GPS/INS combined positioning and navigating system is:

A, gps antenna receive gps signal, send into GPS module 31 through radio frequency amplifier 32, and GPS module 31 obtains the longitude and latitude signal of current location;

Rate detecting unit 21 in B, the INS module 2 is according to rate travel generating rate pulse signal and send into the rate pulse signal input end of GPS module 31;

C, GPS module 31 judge according to the longitude and latitude signal of each point on the mobile alignment whether this mobile alignment is line of collimation, and described line of collimation is a corner less than 15 ° curve; The spacing of described each point can be made as 0.5m (among other embodiment, can be made as 0.1m, 0.2m or 1m, the spacing of described each point is more little, and is just accurate more according to the mobile alignment that each point drew).

D, when GPS module 31 records described mobile alignment and is line of collimation, GPS module 31 to carrying out error correction from the pairing displacement value of single speed pulse in the rate pulse signal of INS module 2, and is delivered to the pairing displacement value of single speed pulse after the error correction location navigation signal input part of CPU element 1 according to described longitude and latitude signal.In this step, the step that the pairing displacement value of single speed pulse is carried out error correction comprises: GPS module 31 is designated as mobile starting point to current longitude and latitude signal post, begin to move from this starting point, until recording the air line distance of 1 a between the described starting point is that preset value 1km is (among other embodiment, can be 1.5km, 2km, even more, the preset value of air line distance is high more, and it is just accurate more to draw the pairing distance value of single speed pulse.) time, GPS module 31 is labeled as terminal point to described some a; During above-mentioned, GPS module 31 is noted the speed pulse sum that INS module 2 is extremely produced between the described terminal point in described starting point; GPS module 31 goes out the length of the mobile alignment between described starting point and the terminal point according to the longitude and latitude calculated signals of each point on the mobile alignment between described starting point and the terminal point, being divided by with described speed pulse sum then promptly draws the pairing distance value of single speed pulse, promptly finishes the error correction to the pairing distance value of single speed pulse.

Totally 5 times (in other embodiments to repeat above-mentioned steps A-D, can be 7,10 or 15 times, even it is more, number of times is many more, the pairing displacement value of single speed pulse that obtains after second order error is proofreaied and correct is just accurate more), and adopt the difference algorithm that the pairing distance value of single speed pulse is carried out the second order error correction, and obtain the pairing displacement value of single speed pulse after second order error is proofreaied and correct.

Described difference filtering algorithm is: speed umber of pulse n and the pairing distance value s of single speed pulse 0The length that draws described line of collimation that multiplies each other is that actual travel is apart from s=n*s 0, and s 0Is fixed value for one to fixed system.Repeat above-mentioned steps A-D totally 5 times, get 5 sections actual travel distances and be respectively s 1, s 2, s 3, s 4And s 5, s then 01=(s 2-s 1)/(n 2-n 1), s 02=(s 3-s 1)/(n 3-n 1), s 03=(s 4-s 1)/(n 4-n 1), s 04=(s 5-s 1)/(n 5-n 1), s 05=(s 3-s 2)/(n 3-n 2), s 06=(s 4-s 2)/(n 4-n 2), s 07=(s 5-s 2)/(n 5-n 2), s 08=(s 4-s 3)/(n 4-n 3), s 09=(s 5-s 3)/(n 5-n 3), s 010=(s 5-s 4)/(n 5-n 4); Ask above-mentioned s 01To s 010Average, the pairing displacement value of the single speed pulse s after promptly obtaining second order error and proofreading and correct 0

See Fig. 2, the GPS/INS combined positioning and navigating system of present embodiment detects and method of its error calibration the rotational angle signal that gyro unit 22 generates, and comprises the steps:

Gps antenna in a, the gps receiver 3 receives gps signal, sends into the radio-frequency (RF) signal input end of GPS module 31 through radio frequency amplifier 32, and GPS module 31 draws the longitude and latitude signal of each point on the carrier mobile alignment; Gyro unit 22 in the INS module 2 generates the rotational angle signal on mobile alignment, and this signal is delivered to the rotational angle signal input part of GPS module 31;

B, GPS module 31 judge according to described longitude and latitude signal whether the carrier mobile alignment is in non-line of collimation state; Wherein, the rotational angle that draws the carrier mobile alignment according to described longitude and latitude signal when GPS module (31) judges that then the carrier mobile alignment is in the line of collimation state during less than 15 °; Otherwise, when the rotational angle that draws the carrier mobile alignment according to described longitude and latitude signal when GPS module (31) is not less than 15 °, judge that then the carrier mobile alignment is in non-line of collimation state.

C, the mobile alignment that records described carrier when GPS module 31 enter non-line of collimation state constantly at T1, and when T2 enters the line of collimation state constantly, GPS module 31 according to from gyro unit 22 in the INS module 2 respectively T1 constantly and the described rotational angle signal that generates constantly of T2 draw carrier at the rotational angle θ 1 of T1 to T2 in the moment; GPS module 31 according to T1 to T2 constantly on the described carrier mobile alignment longitude and latitude calculated signals of each point go out the rotational angle θ 2 of this carrier;

D, GPS module 31 draw the detection error delta θ=θ 2-θ 1 at described T1 to T2 rotational angle of GPS/INS combined positioning and navigating system in the moment;

E, repeat above-mentioned steps a to d at least 5 times, and obtain the Δ θ of corresponding number, each Δ θ is carried out difference calculate, and the value of being compensated α; Wherein, when each Δ θ is carried out difference calculating, ask each Δ θ sum earlier, the back promptly draws described offset α divided by its sum.

F, gps receiver 3 receives the longitude and latitude signals when being disturbed, GPS module 31 is according to the described offset α of rotational angle signal combination that generates from gyro unit in the INS module 2 22, draws through the mobile angular signal of error correction and delivers to the navigator fix signal input part of CPU element 1.

GPS module 31 regularly the pairing displacement value of single speed pulse is carried out error correction and existing displacement value is replaced in storage.Simultaneously, also regularly (as 1 time) carries out error correction to mobile angular signal, draws offset α, and existing offset is replaced in storage.

Claims (9)

1, a kind of GPS/INS combined positioning and navigating system comprises: CPU element (1), INS module (2), be used to receive the gps receiver (3) of longitude and latitude signal and control unit (4) with the two-way touch-screen that is electrically connected of CPU element (1); It is characterized in that: INS module (2) produces rate pulse signal input end and the angle signal input end that corresponding rate pulse signal and mobile angular signal are sent into gps receiver (3) respectively according to rate travel, and according to described longitude and latitude signal pairing displacement value of single speed pulse and mobile angular signal is carried out error correction by gps receiver (3); The location navigation signal output part of gps receiver (3) is with described longitude and latitude signal, rate pulse signal, through the pairing displacement value of single speed pulse of error correction with deliver to the location navigation signal input part of CPU element (1) through the mobile angular signal of error correction; When gps receiver (3) can normally receive the longitude and latitude signal, CPU element (1) only according to gps receiver (3) receive the longitude and latitude signal control unit (4) by touch-screen and position navigation; And only when gps receiver (3) receives the longitude and latitude signal and disturbed, CPU element (1) is according to described rate pulse signal, through the pairing displacement value of single speed pulse of error correction with control unit (4) through the mobile angular signal of error correction by touch-screen and position navigation.
2, GPS/INS combined positioning and navigating according to claim 1 system, it is characterized in that: INS module (2) comprises rate detecting unit (21) that is used for the generating rate pulse signal and the gyro unit (22) that is used to generate mobile angular signal; The rate pulse signal output terminal of INS module (2) and angle signal output terminal connect the rate pulse signal input end and the angle signal input end of gps receiver (3) respectively.
3, GPS/INS combined positioning and navigating according to claim 1 system, it is characterized in that: gps receiver (3) comprising: the radio frequency amplifier (32) that GPS module (31) links to each other with radio-frequency (RF) signal input end with GPS module (31); The signal input part of radio frequency amplifier (32) links to each other with gps antenna; The angle signal input end of gps receiver (3) and rate pulse signal input end are respectively the angle signal input end and the rate pulse signal input end of GPS module (31); The location navigation signal output part of gps receiver (3) is the location navigation signal output part of GPS module (31).
4, the testing and correcting method for speed rate of a kind of GPS/INS combined positioning and navigating system comprises the steps:
Gps antenna in A, the gps receiver (3) receives gps signal, sends into GPS module (31) through radio frequency amplifier (32), and GPS module (31) obtains the longitude and latitude signal of current location;
Rate detecting unit (21) in B, the INS module (2) is according to rate travel generating rate pulse signal and send into the rate pulse signal input end of GPS module (31);
C, GPS module (31) judge according to the longitude and latitude signal of each point on the mobile alignment whether current mobile alignment is line of collimation, and described line of collimation is a corner less than 15 ° curve;
D, when GPS module (31) records described mobile alignment and is line of collimation, GPS module (31) to carrying out error correction from the pairing displacement value of single speed pulse in the rate pulse signal of INS module (2), and is delivered to the pairing displacement value of single speed pulse after the error correction location navigation signal input part of CPU element (1) according to the longitude and latitude signal.
5, the testing and correcting method for speed rate of GPS/INS combined positioning and navigating according to claim 4 system, it is characterized in that: among the above-mentioned steps D, the step that the pairing displacement value of single speed pulse is carried out error correction comprises: GPS module (31) is designated as mobile starting point to current longitude and latitude signal post, begin to move from this starting point, when recording the air line distance of 1 a between the described starting point and be preset value, GPS module (31) is labeled as terminal point to described some a; Above-mentioned the pairing displacement value of single speed pulse is carried out the step of error correction during, GPS module (31) is noted the speed pulse sum that INS module (2) is produced between to terminal in described starting point; GPS module (31) goes out the length of the mobile alignment between described starting point and the terminal point according to the longitude and latitude calculated signals of each point on the mobile alignment between described starting point and the terminal point, being divided by with described speed pulse sum then promptly draws the pairing distance value of single speed pulse, promptly finishes the error correction to the pairing distance value of single speed pulse.
6, the testing and correcting method for speed rate of GPS/INS combined positioning and navigating according to claim 5 system, it is characterized in that: described preset value is at least 1km.
7, according to the testing and correcting method for speed rate of the described GPS/INS combined positioning and navigating of one of claim 4 to 6 system, it is characterized in that: the spacing of each point is made as 0.1m-1m on the described mobile alignment.
8, the testing and correcting method for speed rate of GPS/INS combined positioning and navigating according to claim 7 system, it is characterized in that: repeat above-mentioned step at least 5 times of the pairing displacement value of single speed pulse being carried out error correction, and adopt the difference algorithm that the pairing distance value of single speed pulse is carried out the second order error correction, and obtain the pairing displacement value of single speed pulse after second order error is proofreaied and correct.
9, the testing and correcting method for speed rate of GPS/INS combined positioning and navigating according to claim 5 system, it is characterized in that: GPS module (31) is regularly carried out error correction and is stored the described pairing displacement value of single speed pulse after error correction the pairing displacement value of single speed pulse.
CNB2007100197734A 2007-02-09 2007-02-09 GPS/INS combined locating navigation system and testing and correcting method for speed rate thereof CN100516777C (en)

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GPS/INS组合导航系统及其在军用车辆中的应用. 黄晓瑞,崔平远,崔祜涛.航空兵器,第5期. 2000
GPS/INS组合导航系统及其在军用车辆中的应用. 黄晓瑞,崔平远,崔祜涛.航空兵器,第5期. 2000 *

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