CN106595653A - Wearable autonomous navigation system for pedestrian and navigation method thereof - Google Patents
Wearable autonomous navigation system for pedestrian and navigation method thereof Download PDFInfo
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- CN106595653A CN106595653A CN201611121949.2A CN201611121949A CN106595653A CN 106595653 A CN106595653 A CN 106595653A CN 201611121949 A CN201611121949 A CN 201611121949A CN 106595653 A CN106595653 A CN 106595653A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Navigation (AREA)
Abstract
The invention discloses a wearable autonomous navigation system for a pedestrian and a navigation method thereof. The wearable autonomous navigation system comprises five sensor modules and one comprehensive processing module, wherein the five sensor modules are arranged on the head, arms and feet of the pedestrian respectively; each sensor module comprises a first microcontroller, and an inertial measurement unit, a magnetic sensor, a gas pressure sensor and a first Bluetooth unit which are connected with the first microcontroller respectively; the inertial measurement unit comprises a triaxial accelerometer and a triaxial gyroscope; comprehensive processing module comprises a second microcontroller, and a wireless communication unit, a visual sensor, a satellite receiver, a second Bluetooth unit and a display unit which are connected with the second microcontroller respectively. The five sensor modules acquire a variety of navigation information and transmit the navigation information to the comprehensive processing module, and the variety of navigation information are fused to solve out a navigation result. Based on distributed wearable multi-point information acquisition, data fusion and data filtering are performed according to an inertial navigation method and other navigation methods, so that the pedestrian navigation performance is improved.
Description
Technical field
The invention belongs to pedestrian navigation technical field, more particularly to a kind of Wearable pedestrian autonomous navigation system and its lead
Boat method.
Background technology
Pedestrian navigation positioning is an important new and developing branch in navigation field, can in real time determine and monitor the position of pedestrian
The kinestate with human body is put, so as to effectively improve military combat, the quick-reaction capability of the rescue worker that speedily carries out rescue work and tasks carrying
Efficiency, while the technology also apply be applicable to civil area to ensure the safety of walk, with wide military affairs with it is civilian
Application prospect.Pedestrian navigation technology has become one of study hotspot in current navigation field.
At present more conventional pedestrian navigation method depends on the positioning such as satellite navigation system (GNSS), wireless telecommunications
Technology, and it is aided with micro-inertia sensor to improve the seriality and reliability of pedestrian navigation system, but the pedestrian navigation of the species
Method mainly faces following key issue：
Satellite navigation system (GNSS) is bad in signal conditioning although having the metastable real-time positioning ability of precision
Environment in cannot ensure its positioning performance, although using with the assembled scheme of inertia system can improve to a certain extent navigation system
The capacity of resisting disturbance of system, but satellite-signal it is seriously polluted in addition shielding under conditions of, systematic function still cannot be protected.
Although inertial navigation still has one with stronger autonomy, the relatively conventional inertia device of performance of Mierotubule-associated proteins
Determine gap, inertia device is also affected with Magnetic Sensor by uncertain factors such as ambient temperatures, makes micro- inertia system complete
Into the precision navigation of long period.
Wireless telecommunications can provide navigation locating function with location technology in known region, but in operation, rescue and relief work etc.
In circumstances not known, often due to effective wireless sensor node cannot be installed, or wireless communication signal is intercepted by barrier
Or interference, it is impossible to realize hi-Fix.
To improve the adaptive capacity to environment of pedestrian navigation system, 2 kinds of methods are primarily present at present：1) using in human body walking
The static phase place of gait carry out the zero-velocity curve of micro- inertia system, reduce position error with time accumulating rate.2) using boat position
(DR) method of reckoning calculates the position and speed of pedestrian by the estimation in cadence step-length and course.2 kinds of above-mentioned methods are only
Can apply in the stable state of motion of human body (such as：At the uniform velocity walking etc.), it is impossible to suitable for non-stationary motion (various gait pattern folders
Miscellaneous conversion etc.).
The content of the invention
In order to solve the technical problem that above-mentioned background technology is proposed, the present invention is intended to provide a kind of Wearable pedestrian is certainly leading
Boat system and its air navigation aid, make up the deficiency of single pedestrian's air navigation aid, based on distributed wearable multiple spot information gathering,
Inertial navigation method and other air navigation aids are carried out into Data Fusion Filtering, pedestrian navigation performance is improved.
In order to realize above-mentioned technical purpose, the technical scheme is that：
A kind of Wearable pedestrian autonomous navigation system, including 5 sensor assemblies and 1 integrated treatment module, the biography
Sensor module and integrated treatment module are arranged on pedestrian, wherein 5 sensor assemblies are separately positioned on the head of pedestrian, double
On arm and biped, each sensor assembly includes the first microcontroller and the Inertial Measurement Unit, the magnetic that are attached thereto respectively
Sensor, baroceptor and the first bluetooth unit, the Inertial Measurement Unit includes three axis accelerometer and three-axis gyroscope,
The integrated treatment module include the second microcontroller and be attached thereto respectively wireless communication unit, vision sensor, defend
Star receiver, the second bluetooth unit and display unit, integrated treatment module obtains GNSS signal, General Office by DVB
Reason module carries out data interaction by wireless communication unit and remote monitoring center, each sensor assembly and integrated treatment module it
Between data transfer is realized by the first bluetooth unit and the second bluetooth unit；The various navigation of 5 sensor assemblies collection is believed
Integrated treatment module is ceased and sends to, integrated treatment module is merged the various navigation informations for receiving, and calculates navigation
As a result, navigation results are shown on the display unit, and is uploaded to remote monitoring center.
Further, the integrated treatment module also includes the temperature sensor being connected with the second microcontroller, according to temperature
Degree signal carries out temperature-compensating to other sensors.
Further, the sensor assembly also includes the vision sensor being connected with the first microcontroller.
Further, the remote monitoring center has prestored the cartographic information of navigation area.
Based on the air navigation aid of Wearable pedestrian's autonomous navigation system, comprise the following steps：
(1) using the horizontal attitude angle of the Inertial Measurement Unit initialization system in sensor assembly, inertia measurement list
Course heading of the unit with reference to Magnetic Sensor initialization system；
(2) GNSS signal is obtained by DVB, if the GNSS signal for obtaining is effectively, is carried out according to GNSS signal
The positioning of initial position；
(3) if the GNSS signal for obtaining is invalid, radio communication positioning, the channel radio are carried out by wireless communication unit
Letter positioning includes off-line training step and tuning on-line stage；Off-line training step, gathers the nothing of each sampled point of navigation area
Line positions reference information, constructs fingerprint database, and fingerprint database upload remote monitoring center is preserved；Tuning on-line rank
Section, goes to be inquired about by the wireless messages of actual acquisition to fingerprint database, immediate reference information is searched out, so as to enter
The positioning of line home position；
(4) if wireless communication unit cannot obtain effective or sufficient wireless messages, in starting integrated treatment module
Vision sensor, carries out image acquisition, and the information data for collecting is uploaded to into remote monitoring center by integrated treatment module,
Remote monitoring center has pre-build the information database of navigation area, the information data that vision sensor is collected and information
The information data that data base pre-saves is matched, so as to enter the positioning of line home position；
(5) pedestrian in the process of walking, is used to by method of the pure strapdown with reference to zero-velocity curve to sensor assembly collection
Property information is modified：
The width for arranging sliding window is N, is defined as follows variable：
Wherein, ωx、ωy、ωzThe extreme difference of three-axis gyroscope output respectively in the range of sliding window, max represents very big
Value, min represents minimum, and A is the maximum amplitude of three axis accelerometer output vector in the range of sliding window, i=0,1,2 ...,
N；
Work as ωx、ωy、ωz, in A at least 1 variable value in default threshold range, then it is assumed that current sensor
Inertial Measurement Unit in device module is in zero-speed state, carries out zero-velocity curve；
(6) according to the information of 5 sensor assembly collections, the relative position and attitude of human limb and head are judged, from
And judge the behavioral pattern of pedestrian；
(7) with reference to the result of step (6), navigation calculation, including four steps are carried out using PDR algorithms：Cadence detection, step
Long estimation, course determine and position calculation, comprise the following steps that：
1. cadence detection：The change of accelerometer vertical direction is monitored in real time and draws step number, by arranging threshold value, filter out people
The static interference brought with slight jitter of body, obtains accurate step number；
2. step-size estimation：Inertial data is gathered by the sensor assembly for being located at biped, real-time resolving goes out zero in walking
At the fast moment, according to the length and interval at zero-speed moment step information is tried to achieve；
3. course determines：Gyroscope signal and magnetic sensor signal are gathered according to sensor assembly, with reference to from remote monitoring
The navigation area cartographic information that center obtains, obtains the information in advance course；
4. position calculation：According to the result that 2. and 3. step obtains, the location variation for going up a moment relatively is solved, so as to
Obtain the particular location at this moment；
(8) using Multi-information acquisition filtering algorithm by inertial navigation information and GNSS information, radio communication location information, regard
Feel that location information is merged, obtain final navigation results.
Further, in step (3), when navigation area is indoor, WiFi signal is selected to carry out radio communication positioning；
When navigation area is outdoor, cellular base station signal is selected to carry out radio communication positioning.
Further, in step (8), the Multi-information acquisition filtering algorithm is Kalman filtering algorithm.
Further, in whole navigation procedure, whether real-time judge GNSS signal is effective and first time GNSS is effective
The datum mark that the position at moment is combined as inertial navigation information with GNSS information, what afterwards various navigation information fusions were obtained leads
Boat result is the relative position with the datum mark.
The beneficial effect brought using above-mentioned technical proposal：
The present invention is based on distributed wearable multiple spot information gathering, on the basis of pedestrian's body shape is accurately judged,
Inertial navigation algorithm and other navigation algorithms (vision sensor, DVB, Magnetic Sensor etc.) are carried out into fused filtering, works as inertia
Navigation works long hours and occurs more significantly drifting about, and by all kinds of assisting navigation modes error correction is carried out, and leads so as to improve
Boat precision, realizes the location navigation service in the case of multi-level, different range.
Description of the drawings
Fig. 1 is the composition frame chart of navigation system of the present invention；
Fig. 2 is the wearing schematic diagram of navigation system of the present invention；
Fig. 3 is the flow chart of air navigation aid of the present invention.
Specific embodiment
Below with reference to accompanying drawing, technical scheme is described in detail.
As shown in Figure 1 and Figure 2, a kind of Wearable pedestrian autonomous navigation system, including 5 sensor assemblies and 1 General Office
Reason module, the sensor assembly and integrated treatment module are arranged on pedestrian, wherein 5 sensor assemblies are separately positioned on
On the head of pedestrian, both arms and biped, each sensor assembly include the first microcontroller and be attached thereto respectively it is used
Property measuring unit, Magnetic Sensor, baroceptor and the first bluetooth unit, the Inertial Measurement Unit include three axis accelerometer
And three-axis gyroscope, the integrated treatment module include the second microcontroller and be attached thereto respectively wireless communication unit,
Vision sensor, DVB, the second bluetooth unit and display unit.
Integrated treatment module by DVB obtain GNSS signal, integrated treatment module by wireless communication unit with
Remote monitoring center carries out data interaction, and the first bluetooth unit and second is passed through between each sensor assembly and integrated treatment module
Bluetooth unit realizes data transfer.5 sensor assemblies gather various navigation informations and send integrated treatment module to, General Office
Reason module is merged the various navigation informations for receiving, and calculates navigation results, and navigation results are included in display unit
On, and it is uploaded to remote monitoring center.
In the present embodiment, the remote monitoring center has prestored the cartographic information of navigation area.
In the present embodiment, the integrated treatment module also includes the temperature sensor being connected with the second microcontroller, root
Temperature-compensating is carried out to other sensors according to temperature signal, so as to improve sensor accuracy.
In the present embodiment, Inertial Measurement Unit adopts MPU-6050 chips, Magnetic Sensor to adopt HMC-5883 chips, gas
Pressure sensor adopts BMP-180 chips, first, second microcontroller to adopt STM32 chips.
The invention allows for the air navigation aid based on above-mentioned Wearable pedestrian autonomous navigation system, as shown in figure 3, including
Following steps：
(1) using the horizontal attitude angle of the Inertial Measurement Unit initialization system in sensor assembly, inertia measurement list
Course heading of the unit with reference to Magnetic Sensor initialization system；
(2) GNSS signal is obtained by DVB, if the GNSS signal for obtaining is effectively, is carried out according to GNSS signal
The positioning of initial position；
(3) if the GNSS signal for obtaining is invalid, radio communication positioning, the channel radio are carried out by wireless communication unit
Letter positioning includes off-line training step and tuning on-line stage；Off-line training step, gathers the nothing of each sampled point of navigation area
Line positions reference information, constructs fingerprint database, and fingerprint database upload remote monitoring center is preserved；Tuning on-line rank
Section, goes to be inquired about by the wireless messages of actual acquisition to fingerprint database, immediate reference information is searched out, so as to enter
The positioning of line home position；When navigation area is indoor, WiFi signal is selected to carry out radio communication positioning, when navigation area is
When outdoor, cellular base station signal is selected to carry out radio communication positioning；
(4) if wireless communication unit cannot obtain effective or sufficient wireless messages, in starting integrated treatment module
Vision sensor, carries out image acquisition, and the information data for collecting is uploaded to into remote monitoring center by integrated treatment module,
Remote monitoring center has pre-build the information database of navigation area, the information data that vision sensor is collected and information
The information data that data base pre-saves is matched, so as to enter the positioning of line home position；
(5) pedestrian in the process of walking, the method for zero-velocity curve is combined to 2 sensors located at biped by pure strapdown
The information of module collection is modified：
The width for arranging sliding window is N, is defined as follows variable：
Wherein, ωx、ωy、ωzThe extreme difference of three-axis gyroscope output respectively in the range of sliding window, max represents very big
Value, min represents minimum, and A is the maximum amplitude of three axis accelerometer output vector in the range of sliding window, i=0,1,2 ...,
N；
Work as ωx、ωy、ωz, in A at least 1 variable value in default threshold range, then it is assumed that be currently located at
The Inertial Measurement Unit of foot is in zero-speed state, carries out zero-velocity curve；
(6) according to the information of 5 sensor assembly collections, the relative position and attitude of human limb and head are judged, from
And judge the behavioral pattern (run, walk, jumping, crouching) of pedestrian；The barometric information of each baroceptor collection is analyzed, be can be derived that each
The residing height of baroceptor, the i.e. head of pedestrian, the height relationships between arm, foot, so as to judge some behaviors of pedestrian
Mode, for example, lie low, stand, so as to aid in inertial navigation to carry out behavior judgement；
(7) with reference to the result of step (6), navigation calculation, including four steps are carried out using PDR algorithms：Cadence detection, step
Long estimation, course determine and position calculation, comprise the following steps that：
1. cadence detection：The change of accelerometer vertical direction is monitored in real time and draws step number, by arranging threshold value, filter out people
The static interference brought with slight jitter of body, obtains accurate step number；
2. step-size estimation：Inertial data is gathered by the sensor assembly for being located at biped, real-time resolving goes out zero in walking
At the fast moment, according to the length and interval at zero-speed moment step information is tried to achieve；
3. course determines：Gyroscope signal and magnetic sensor signal are gathered according to sensor assembly, with reference to from remote monitoring
The navigation area cartographic information that center obtains, obtains the information in advance course；
4. position calculation：According to the result that 2. and 3. step obtains, the location variation for going up a moment relatively is solved, so as to
Obtain the particular location at this moment；
(8) using Multi-information acquisition filtering algorithm (such as Kalman filtering algorithm) by inertial navigation information and GNSS information,
Radio communication location information, vision localization information are merged, and obtain final navigation results.
In whole navigation procedure, real-time judge GNSS signal whether effectively, and by the position of first time GNSS significant instant
The datum mark combined with GNSS information as inertial navigation information is put, the navigation results that afterwards various navigation information fusions are obtained are equal
It is the relative position with the datum mark.
System navigator fix result and integrated treatment module are collected the information for collecting, is uploaded to by wireless communication module
Remote monitoring center, carry out one/many people positions and Activity recognition, while set up the model of location-based various physical fields,
And colony's service strategy of many people is analyzed, realize location-based various navigation value-added services.
Embodiment technological thought only to illustrate the invention, it is impossible to which protection scope of the present invention is limited with this, it is every according to
Technological thought proposed by the present invention, any change done on the basis of technical scheme, each falls within the scope of the present invention.
Claims (8)
1. a kind of Wearable pedestrian autonomous navigation system, it is characterised in that：Including 5 sensor assemblies and 1 integrated treatment mould
Block, the sensor assembly and integrated treatment module are arranged on pedestrian, wherein 5 sensor assemblies are separately positioned on pedestrian
Head, on both arms and biped, each sensor assembly includes that the first microcontroller and the inertia that is attached thereto respectively are surveyed
Amount unit, Magnetic Sensor, baroceptor and the first bluetooth unit, the Inertial Measurement Unit includes three axis accelerometer and three
Axle gyroscope, the integrated treatment module includes the second microcontroller and the wireless communication unit, the vision that are attached thereto respectively
Sensor, DVB, the second bluetooth unit and display unit, integrated treatment module obtains GNSS letters by DVB
Number, integrated treatment module carries out data interaction, each sensor assembly and synthesis by wireless communication unit and remote monitoring center
Data transfer is realized by the first bluetooth unit and the second bluetooth unit between processing module；5 sensor assemblies collection
Various navigation informations simultaneously send integrated treatment module to, and integrated treatment module is merged the various navigation informations for receiving,
Navigation results are calculated, navigation results are shown on the display unit, and be uploaded to remote monitoring center.
2. a kind of Wearable pedestrian autonomous navigation system according to claim 1, it is characterised in that：The integrated treatment module
Also include the temperature sensor being connected with the second microcontroller, temperature-compensating is carried out to other sensors according to temperature signal.
3. a kind of Wearable pedestrian autonomous navigation system according to claim 1, it is characterised in that：The sensor assembly is also
Including the vision sensor being connected with the first microcontroller.
4. a kind of Wearable pedestrian autonomous navigation system according to claim 1, it is characterised in that：The remote monitoring center
The cartographic information of navigation area is prestored.
5. the air navigation aid of Wearable pedestrian's autonomous navigation system is based on, it is characterised in that comprised the following steps：
(1) using the horizontal attitude angle of the Inertial Measurement Unit initialization system in sensor assembly, Inertial Measurement Unit knot
Close the course heading of Magnetic Sensor initialization system；
(2) GNSS signal is obtained by DVB, if the GNSS signal for obtaining is effectively, is carried out initially according to GNSS signal
The positioning of position；
(3) if the GNSS signal for obtaining is invalid, radio communication positioning is carried out by wireless communication unit, the radio communication is determined
Position includes off-line training step and tuning on-line stage；Off-line training step, gathers wireless the determining of each sampled point of navigation area
Position reference information, constructs fingerprint database, and fingerprint database upload remote monitoring center is preserved；The tuning on-line stage,
Go to be inquired about by the wireless messages of actual acquisition to fingerprint database, search out immediate reference information, so as to carry out
The positioning of initial position；
(4) if wireless communication unit cannot obtain effective or sufficient wireless messages, the vision in integrated treatment module is started
Sensor, carries out image acquisition, the information data for collecting is uploaded to into remote monitoring center by integrated treatment module, remotely
Surveillance center has pre-build the information database of navigation area, the information data that vision sensor is collected and information data
The information data that storehouse pre-saves is matched, so as to enter the positioning of line home position；
(5) pedestrian in the process of walking, is believed by pure strapdown with reference to the inertia that the method for zero-velocity curve is gathered to sensor assembly
Breath is modified：
The width for arranging sliding window is N, is defined as follows variable：
Wherein, ωx、ωy、ωzThe extreme difference of three-axis gyroscope output respectively in the range of sliding window, max represents maximum,
Min represents minimum, and A is the maximum amplitude of three axis accelerometer output vector in the range of sliding window, i=0,1,2 ..., N；
Work as ωx、ωy、ωz, in A at least 1 variable value in default threshold range, then it is assumed that current sensor mould
Inertial Measurement Unit in block is in zero-speed state, carries out zero-velocity curve；
(6) according to the information of 5 sensor assembly collections, the relative position and attitude of human limb and head are judged, so as to sentence
The behavioral pattern of line-break people；
(7) with reference to the result of step (6), navigation calculation, including four steps are carried out using PDR algorithms：Cadence detection, step-length are estimated
Meter, course determine and position calculation, comprise the following steps that：
1. cadence detection：The change of accelerometer vertical direction is monitored in real time and draws step number, by arranging threshold value, filter out human body quiet
The interference for only bringing with slight jitter, obtains accurate step number；
2. step-size estimation：Inertial data is gathered by the sensor assembly for being located at biped, during the zero-speed that real-time resolving goes out in walking
Carve, according to the length and interval at zero-speed moment step information is tried to achieve；
3. course determines：Gyroscope signal and magnetic sensor signal are gathered according to sensor assembly, with reference to from remote monitoring center
The navigation area cartographic information of acquisition, obtains the information in advance course；
4. position calculation：According to the result that 2. and 3. step obtains, the location variation for going up a moment relatively is solved, so as to obtain
The particular location at this moment；
(8) it is using Multi-information acquisition filtering algorithm that inertial navigation information is fixed with GNSS information, radio communication location information, vision
Position information is merged, and obtains final navigation results.
6. air navigation aid according to claim 5, it is characterised in that：In step (3), when navigation area is indoor, choosing
Selecting WiFi signal carries out radio communication positioning；When navigation area is outdoor, selects cellular base station signal to carry out radio communication and determine
Position.
7. air navigation aid according to claim 5, it is characterised in that：In step (8), the Multi-information acquisition filtering algorithm
For Kalman filtering algorithm.
8. air navigation aid according to claim 5, it is characterised in that：In whole navigation procedure, real-time judge GNSS signal
It is whether effective, and the datum mark that the position of first time GNSS significant instant is combined as inertial navigation information with GNSS information,
The navigation results that afterwards various navigation information fusions are obtained are the relative positions with the datum mark.
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