CN114295128B - Continuous navigation method and device for low-orbit enhancement and fusion of GNSS and IMU - Google Patents
Continuous navigation method and device for low-orbit enhancement and fusion of GNSS and IMU Download PDFInfo
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Abstract
The invention relates to a continuous navigation method and device for low-orbit enhancement and fusion of GNSS and IMU. The method comprises the following steps: s1, capturing, tracking and text resolving are carried out on global satellite navigation signals and low-orbit satellite enhanced signals by utilizing a signal receiving module; s2, passive inertial navigation positioning is carried out by utilizing an inertial measurement unit module; s3, judging whether the satellite navigation signal is captured normally, executing the step S4 during normal capture, otherwise executing the steps S5-S6; s4, fusing an inertial navigation positioning result with a satellite navigation signal by utilizing a combined positioning module to realize combined navigation positioning; s5, processing the low-orbit enhanced signal by using a single-star positioning module to realize single-star positioning of the low-orbit earth satellite; s6, performing long-time coherent integration by using the navigation enhancement module, improving sensitivity and realizing global navigation satellite system positioning in a complex electromagnetic environment. The invention can improve the reliability and the persistence of satellite positioning in a complex electromagnetic environment.
Description
Technical Field
The invention relates to the technical field of satellite navigation and integrated navigation, in particular to a continuous navigation method and a navigation device for low-orbit augmentation and fusion of GNSS and IMU, and especially relates to a continuous navigation method and a navigation device for low-orbit augmentation and fusion of GNSS and IMU in a complex electromagnetic environment.
Background
The global navigation satellite system (Global Navigation Satellite System, GNSS) navigation positioning is characterized by wide constellation coverage and high positioning accuracy, but navigation signals are easy to interfere, and more than four navigation satellites are theoretically needed to complete positioning. The inertial directional positioning navigation system (Inertial Navigation System, INS) has passive characteristic and secrecy in navigation positioning, and has higher navigation precision in a short time, but the accumulation of long-time navigation errors leads to overlarge positioning errors due to inherent attribute limitation of an inertial device. The GNSS/INS integrated navigation technology makes up the respective defects by utilizing the characteristics of the two navigation systems, but greatly reduces the reliability of GNSS positioning and even is not available under complex environments such as shielding, signal interference and the like, so that a low-rail enhancement system is required to be introduced. And (3) broadcasting an enhanced signal by using a Low Earth Orbit (LEO) satellite, and performing single-star positioning under the condition of insufficient visible satellites to form a single-star/INS combination, and simultaneously performing auxiliary positioning on the GNSS to cope with the limitation of complex scenes.
In consideration of the complexity of the application scene of navigation positioning and the superiority of low-orbit signals, the combined navigation and low-orbit constellations are continuously researched at home and abroad, the test of low-orbit enhancement performance is repeatedly performed, and the combined positioning technology of fusion INS/GNSS/low-orbit enhancement can greatly expand the available scene of positioning.
Disclosure of Invention
In order to improve the reliability and the persistence of satellite positioning in a complex electromagnetic environment, the invention aims to provide a low-orbit enhanced and GNSS and IMU fused persistence navigation method and a navigation device.
In order to achieve the above purpose, the technical scheme of the invention is as follows:
the invention provides a continuous navigation method for low-orbit enhancement and fusion of GNSS and IMU, which comprises the following steps:
s1, capturing, tracking and text information resolving are carried out by utilizing a satellite navigation signal sent by a global navigation satellite system of a signal receiving module and a low-orbit enhancement signal sent by a low-orbit earth satellite;
s2, performing passive inertial navigation positioning by using an inertial measurement unit (Inertial Measurement Unit, IMU) module and outputting a positioning result;
s3, judging whether the satellite navigation signal is captured normally or not by utilizing a capture judging module, executing a step S4 when the satellite navigation signal is captured normally, otherwise executing steps S5-S6;
s4, fusing the positioning result with the satellite navigation signal by utilizing a combined positioning module to realize combined navigation positioning of an inertial navigation system and a global navigation satellite system;
s5, processing the low-orbit enhancement signal by using a single-star positioning module, removing a positioning fuzzy value by using positioning information of the inertial navigation system, and assisting in realizing single-star positioning of the low-orbit earth satellite;
s6, utilizing a navigation enhancement module to carry out long-time coherent integration on the satellite navigation signals in the capturing and tracking process according to the single-satellite positioning result and the forwarded ephemeris information of the low-orbit enhancement signals, and assisting in capturing and tracking of the satellite navigation signals.
According to one aspect of the present invention, the low-orbit enhanced signal in the step S1 modulates two paths of message information orthogonal to each other in a QPSK modulation mode, where the message information includes low-orbit satellite ephemeris parameters and low-orbit satellite clock correction parameters, so as to perform single-satellite positioning; and forwarding BDS satellite ephemeris information for performing assisted acquisition of the global navigation satellite system.
According to one aspect of the invention, the satellite navigation signals are received and resolved by the signal receiving module as input to the combined positioning module;
frequency searching and quick capturing are carried out on the low-orbit enhanced signals under high dynamic state by utilizing a signal receiving module, and low-orbit enhanced message sending time pseudo-range information, doppler information and low-orbit earth satellite position and speed information are calculated and used as input of the single-star positioning module;
and performing text calculation on the low-orbit enhanced signal by using a signal receiving module to acquire ephemeris information of the global navigation satellite system as input of the navigation enhancement module.
According to one aspect of the invention, the step S4 includes:
compressing a tracking loop of the satellite navigation signal by utilizing autonomous positioning information of an inertial navigation system to assist continuous tracking of the satellite navigation signal;
and fusing the positioning result with the satellite navigation signal information by using a fusion algorithm.
According to one aspect of the invention, the step S5 includes:
processing the input information of the signal receiving module by using a single star positioning module, and outputting a single star positioning result;
correcting the single-star positioning result by utilizing the positioning information of the inertial navigation system, and eliminating the single-star positioning fuzzy value;
and carrying out information fusion on the positioning result of the inertial navigation system and the single-star positioning result of the low-orbit earth satellite by using a fusion algorithm.
According to one aspect of the invention, the step S6 includes:
the low-orbit enhanced signal single-star positioning result assisted by the inertial navigation system is used as priori information, the frequency and code phase searching range in the capturing process of the satellite navigation signal is reduced, and the rapid frequency searching and code phase synchronization of the satellite navigation signal are carried out;
selecting a non-text information branch of a satellite navigation signal, stripping subcodes after code phase synchronization, performing long-time coherent integration in a capturing and tracking stage of the satellite navigation signal, and obtaining coherent integration gain.
A low-rail enhanced, GNSS and IMU fused sustained navigation apparatus implemented using the low-rail enhanced, GNSS and IMU fused sustained navigation method as described above, comprising: the system comprises a signal receiving module, an inertial measurement unit module, a capturing judging module, a combined positioning module, a single star positioning module and a navigation enhancing module.
The signal receiving module is used for capturing and tracking satellite navigation signals sent by the global navigation satellite system and low-orbit enhancement signals sent by the low-orbit earth satellites and resolving text information;
the inertial measurement unit module is used for passive inertial navigation positioning and outputting a positioning result;
the capturing judgment module is used for judging whether the satellite navigation signal is captured normally, outputting a captured tracking signal and the positioning result to the combined positioning module when the satellite navigation signal is captured normally, or outputting the captured tracking signal and the positioning result to the single-star positioning module;
the combined positioning module is used for fusing the positioning result with the satellite navigation signal to realize combined navigation positioning of an inertial navigation system and a global navigation satellite system;
the single-star positioning module is used for processing the low-orbit enhanced signal, removing a positioning fuzzy value by utilizing positioning information of an inertial navigation system and assisting in realizing single-star positioning of the low-orbit earth satellite;
the navigation enhancement module is used for performing long-time coherent integration on the satellite navigation signals according to the single-star positioning result and the forwarding ephemeris information in the low-orbit enhancement signals, so that the signal capturing and tracking sensitivity is improved, and the global navigation satellite system positioning under the complex electromagnetic environment is realized.
According to another aspect of the present invention, the signal receiving module includes: the system comprises a satellite signal down-conversion and baseband processing sub-module and an electric text resolving and information processing sub-module.
The satellite signal down-conversion and baseband processing submodule is used for receiving satellite navigation signals sent by a global navigation satellite system and low-orbit enhancement signals sent by low-orbit earth satellites, capturing and tracking the signals, and obtaining signal accumulation parameters;
the message resolving and information processing sub-module is used for recovering message bit information according to the signal accumulation quantity parameter, resolving ephemeris parameters and calculating satellite position and speed information according to the ephemeris parameters.
According to another aspect of the invention, the combined positioning module is a deep coupling combined navigation positioning module of an inertial navigation system and a global navigation satellite system, and is used for fusing the positioning result with the satellite navigation signal information by utilizing a fusion algorithm, compressing a tracking loop of the satellite navigation signal by utilizing autonomous positioning information of the inertial navigation system, and assisting continuous tracking of the satellite navigation signal.
The beneficial effects are that:
according to the scheme of the invention, the combination of the low-orbit enhancement signal, the GNSS system and the INS system is adopted, and compared with the traditional GNSS/INS combined navigation system, the navigation method and the device can utilize the low-orbit enhancement information to carry out long-time coherent integration on the GNSS satellite navigation signal under the scene that electromagnetic interference exists and the GNSS satellite navigation signal cannot be positioned normally, so as to obtain additional coherent integration gain, thereby assisting the capturing and tracking of the GNSS satellite navigation signal and improving the sensitivity and the anti-interference capability of signal capturing.
According to one scheme of the invention, the invention can directly utilize LEO satellites to perform single-star positioning without depending on GNSS navigation positioning, and meanwhile, INS positioning is used for acquiring user dynamics, so that the single-star positioning precision is further improved, and the positioning under the completely unavailable scene of GNSS satellite navigation signals is realized.
According to the scheme of the invention, the GNSS/INS combined navigation mode and the low-orbit signal assisted GNSS mode can run simultaneously, and the channel capturing and positioning mode is optimized according to the judgment result of the capturing judgment module on the capturing condition of the channel GNSS satellite navigation signals, so that the self-adaptability of the device is improved, and continuous positioning under the complex electromagnetic environment is realized.
Drawings
FIG. 1 schematically illustrates a flow chart of a low-rail enhanced, GNSS and IMU fused sustained navigation method in accordance with one embodiment of the present invention;
FIG. 2 schematically illustrates a block diagram of a low-rail enhanced, GNSS and IMU fused continuous navigation device in accordance with one embodiment of the present invention;
FIG. 3 schematically illustrates a physical structure of a low-rail enhanced, GNSS and IMU integrated sustained navigation apparatus according to one embodiment of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
The present invention will be described in detail below with reference to the drawings and the specific embodiments, which are not described in detail herein, but the embodiments of the present invention are not limited to the following embodiments.
According to the concept of the invention, the continuous navigation method and the navigation device with the integrated low orbit enhancement, GNSS and IMU are used for receiving GNSS satellite navigation signals and performing deep coupling with INS to realize combined navigation positioning of GNSS and INS under the condition that the GNSS satellite navigation signals can be normally received and tracked under the complex electromagnetic environment. Under the condition of electromagnetic interference and under the condition that GNSS satellite navigation signals cannot be normally received, on one hand, the positioning work independent of the GNSS satellite navigation signals can be completed by receiving low-orbit enhanced signals (or low-orbit navigation enhanced signals) and carrying out combined positioning with INS; on the other hand, the prior information is generated by the combined positioning of the low-orbit navigation enhancement signal and the INS, the GNSS satellite navigation signal is assisted to perform long-time coherent integration, the coherent integration gain is obtained, and the capturing sensitivity and the anti-interference performance of the method and the device for the GNSS satellite navigation signal are improved to a certain extent.
As shown in fig. 1, the continuous navigation method for low-rail augmentation, GNSS and IMU fusion of the present embodiment includes:
s1, capturing and tracking a satellite navigation signal sent by a global navigation satellite system and a low-orbit enhancement signal sent by a low-orbit earth satellite by utilizing a signal receiving module and resolving text information;
s2, passive inertial navigation positioning is performed by using the inertial measurement unit module, and a positioning result is output;
s3, judging whether the satellite navigation signal is captured normally or not by utilizing a capture judging module, executing a step S4 when the satellite navigation signal is captured normally, otherwise executing steps S5-S6;
s4, fusing an inertial navigation positioning result with a satellite navigation signal by utilizing a combined positioning module to realize combined navigation positioning of an inertial navigation system and a global navigation satellite system;
s5, processing the low-orbit enhanced signal by using a single-star positioning module, removing a positioning fuzzy value by using positioning information of an inertial navigation system, and assisting in realizing single-star positioning of the low-orbit earth satellite;
s6, performing long-time coherent integration on the satellite navigation signals by utilizing the navigation enhancement module according to the single-satellite positioning result and the forwarded ephemeris information of the low-orbit enhancement signals, and assisting in capturing and tracking of the global navigation satellite system to realize the global navigation satellite system positioning in a complex electromagnetic environment.
According to one embodiment of the present invention, the low-orbit enhanced signal modulates I, Q two paths of message information orthogonal to each other in a QPSK modulation mode, where the message information includes low-orbit earth satellite state information required for single-satellite positioning, and satellite ephemeris information required for assisted acquisition by a global navigation satellite system. The I branch specifically comprises low-orbit satellite ephemeris parameters and low-orbit satellite clock correction parameters; the Q branch specifically contains the forwarded BDS satellite ephemeris information.
According to an embodiment of the present invention, the step S1 includes: the signal receiving module is used for receiving satellite navigation signals sent by the global navigation satellite system, and calculating the signals to be input as a combined positioning module; the method comprises the steps of receiving low-orbit enhancement signals broadcast by low-orbit earth satellites by a signal receiving module, carrying out frequency search and quick capture under high dynamic state on the low-orbit enhancement signals, and resolving pseudo-range information, doppler information and low-orbit earth satellite position and speed information of low-orbit enhancement messages at the moment of sending, wherein the pseudo-range information, doppler information and low-orbit earth satellite position and speed information are used as input of a single-star positioning module; and performing text calculation on the low-orbit enhanced signal by using the signal receiving module to acquire ephemeris information of the global navigation satellite system as input of the navigation enhancement module. The signal receiving module may be composed of a GNSS antenna and associated hardware.
According to an embodiment of the present invention, the step S4 includes: fusing the positioning result with the GNSS satellite navigation signal information by using a fusion algorithm; and compressing a tracking loop of the GNSS satellite navigation signal by utilizing the autonomous positioning information of the inertial navigation system, and assisting continuous tracking of the GNSS satellite navigation signal. Positioning accuracy and system robustness can be improved through a fusion algorithm.
According to an embodiment of the present invention, the step S5 includes: processing the module input information by using a single star positioning module, and outputting a single star positioning result; correcting the single-star positioning result by utilizing the positioning information of the inertial navigation system, and eliminating the single-star positioning fuzzy value; and (3) carrying out information fusion on the positioning result of the inertial navigation system and the single-star positioning result of the low-orbit earth satellite by using a fusion algorithm, and optimizing the positioning result.
According to an embodiment of the present invention, the step S6 includes: the low-orbit enhanced signal single-star positioning result assisted by the inertial navigation system is used as priori information, after the frequency and code phase searching range in the capturing process of the GNSS satellite navigation signal is reduced, the quick frequency searching and code phase synchronization of the GNSS satellite navigation signal are carried out, so that the capturing of the GNSS satellite navigation signal can still be completed in the LEO satellite passing period after the coherent integration time is prolonged; selecting a non-text information branch of the GNSS satellite navigation signal, stripping subcodes after code phase synchronization, performing long-time coherent integration in a capturing and tracking stage of the GNSS satellite navigation signal, and obtaining coherent integration gain to realize the enhancement of capturing sensitivity and anti-interference performance of the GNSS satellite navigation signal.
According to an embodiment of the present invention, as shown in fig. 2, a continuous navigation device for low-orbit augmentation, GNSS and IMU fusion, which is implemented by using the continuous navigation method for low-orbit augmentation, GNSS and IMU fusion, includes: a signal receiving module 201, an inertial measurement unit module 202, a capture judging module 203, a combined positioning module 204, a single star positioning module 205 and a navigation enhancing module 206.
The signal receiving module 201 is configured to capture and track a GNSS satellite navigation signal and a low-orbit enhanced signal broadcast by a low-orbit earth satellite, and calculate text information; the inertial measurement unit module 202 is used for passive inertial navigation positioning and outputting a positioning result; the capturing determining module 203 is configured to determine whether the GNSS satellite navigation signal is captured normally, when the GNSS satellite navigation signal is captured normally, output a captured tracking signal and a positioning result to the combined positioning module 204, otherwise output a captured tracking signal and a positioning result to the single-star positioning module 205; the combined positioning module 204 is used for fusing a positioning result with a GNSS satellite navigation signal to realize combined navigation positioning of an inertial navigation system and a global navigation satellite system; the single-star positioning module 205 is configured to perform single-star positioning of the low earth satellite according to the input information of the signal receiving module, correct a single-star positioning result by using positioning information of the inertial navigation system, and fuse the single-star positioning result with the inertial navigation positioning result; the navigation augmentation module 206 is configured to complete long-time coherent integration during capturing and tracking of the GNSS satellite navigation signals according to the single-star positioning result and by using the forwarded ephemeris information in the low-orbit augmentation signal, and assist in capturing and tracking of the GNSS satellite navigation signals.
According to one embodiment of the present invention, the signal receiving module 201 includes: the system comprises a satellite signal down-conversion and baseband processing sub-module and an electric text resolving and information processing sub-module. The satellite signal down-conversion and baseband processing submodule is used for receiving satellite navigation signals sent by a global navigation satellite system and low-orbit enhancement signals sent by low-orbit earth satellites, capturing and tracking the signals, and obtaining signal accumulation quantity parameters. The message resolving and information processing sub-module is used for recovering message bit information according to the signal accumulation quantity parameter, resolving ephemeris parameters and calculating satellite positioning information according to the ephemeris parameters.
According to an embodiment of the present invention, the combined positioning module 204 is an INS and GNSS deep coupling combined navigation positioning module, and is configured to fuse the positioning result with the GNSS satellite navigation signal information by using a fusion algorithm, and compress a tracking loop of the GNSS satellite navigation signal by using the inertial navigation system autonomous positioning information, so as to assist continuous tracking of the GNSS satellite navigation signal.
According to one embodiment of the present invention, the single-star positioning module 205 implements a single-star positioning module for an INS-assisted LEO satellite, and is configured to perform single-star positioning and output a positioning result according to input LEO satellite pseudo-range information, doppler information, and satellite position and velocity information; the method is used for acquiring the motion state of the carrier by using an inertial navigation system, removing the single-star positioning fuzzy value and correcting the single-star positioning result; and the inertial navigation positioning information is fused with the single-star positioning result by utilizing a fusion algorithm, so that the positioning result is further optimized.
According to one embodiment of the present invention, the navigation enhancement module 206 uses the low-orbit enhancement signal single-star positioning result assisted by the inertial navigation system as a priori information, and performs fast frequency search and code phase synchronization of the GNSS satellite navigation signals after narrowing the frequency and code phase search range during the acquisition of the GNSS satellite navigation signals. And selecting a non-text information branch of the GNSS satellite navigation signal, stripping subcodes after code phase synchronization, and performing long-time coherent integration in a capturing and tracking stage of the GNSS satellite navigation signal to obtain coherent integration gain.
According to one embodiment of the present invention, as shown in fig. 3, a low-orbit enhanced, GNSS-IMU fused persistent navigation entity apparatus in a complex electromagnetic environment includes: a signal receiver 301, an IMU inertial device 302, a combining locator 303, a single star locator 304, and a navigation augmented locator 305. The signal receiver 301 performs acquisition tracking, text solution and ephemeris parameter calculation on the GNSS satellite navigation signals and the LEO low orbit enhancement signals. The inertial device 302 performs inertial navigation positioning through the inertial device, and the combined positioner 303 feeds back the positioning result output by the inertial device 302 to the signal receiver 301, assists in loop tracking of the GNSS satellite navigation signals, and outputs the positioning result through information fusion. The single-star positioner 304 receives the low-orbit enhanced signal ephemeris calculation result output by the signal receiver 301, performs single-star positioning processing, and fuses with the inertial navigation positioning result output by the inertial device 302 of the IMU, thereby improving positioning accuracy. The navigation augmentation locator 305 receives the locating result output by the single-star locator 304, assists the long-time coherent integration in the capturing and tracking process of the GNSS satellite navigation signal, and improves the capturing and tracking sensitivity.
The above description is only one embodiment of the present invention and is not intended to limit the present invention, and various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A low-rail-augmentation, GNSS-and-IMU-fusion continuous navigation method comprising:
s1, capturing and tracking a satellite navigation signal sent by a global navigation satellite system and a low-orbit enhancement signal sent by a low-orbit earth satellite by utilizing a signal receiving module, and resolving text information;
s2, passive inertial navigation positioning is performed by using the inertial measurement unit module, and a positioning result is output;
s3, judging whether the satellite navigation signal is captured normally or not by utilizing a capture judging module, executing a step S4 when the satellite navigation signal is captured normally, otherwise executing steps S5-S6;
s4, fusing an inertial navigation positioning result with the satellite navigation signal by utilizing a combined positioning module to realize combined navigation positioning of an inertial navigation system and a global navigation satellite system;
s5, processing the low-orbit enhancement signal by using a single-star positioning module, removing a positioning fuzzy value by using positioning information of the inertial navigation system, and assisting in realizing single-star positioning of the low-orbit earth satellite;
s6, performing long-time coherent integration on the satellite navigation signals by utilizing a navigation enhancement module according to a single-satellite positioning result and the forwarded ephemeris information of the low-orbit enhancement signals, and realizing global navigation satellite system positioning in a complex electromagnetic environment.
2. The method according to claim 1, wherein the low-orbit augmentation signal of step S1 modulates two paths of message information orthogonal to each other in a QPSK modulation manner, the message information including low-orbit satellite ephemeris parameters and low-orbit satellite clock correction parameters for single-satellite positioning, and forwarded BDS satellite ephemeris information for assisted acquisition of the global navigation satellite system.
3. The method according to claim 1, wherein the step S1 comprises:
the signal receiving module is used for receiving and resolving the satellite navigation signals and is used as the input of the combined positioning module;
the signal receiving module is used for carrying out frequency searching and quick capturing under high dynamic state on the low-orbit enhanced signal, and calculating pseudo-range information, doppler information and low-orbit earth satellite position and speed information at the time of low-orbit enhanced message sending, which are used as the input of the single-star positioning module;
and performing text calculation on the low-orbit enhanced signal by using the signal receiving module to acquire ephemeris information of the global navigation satellite system as input of the navigation enhancing module.
4. The method according to claim 1, wherein the step S4 comprises:
compressing a tracking loop of the satellite navigation signal by utilizing autonomous positioning information of an inertial navigation system to assist continuous tracking of the satellite navigation signal;
and carrying out information fusion on the positioning result and the satellite navigation signal by using a fusion algorithm.
5. The method according to claim 1, wherein the step S5 comprises:
processing the information input by the signal receiving module by utilizing the single-star positioning module, and outputting a single-star positioning result;
correcting the single-star positioning result by utilizing the positioning information of the inertial navigation system, and eliminating the single-star positioning fuzzy value;
and carrying out information fusion on the positioning result of the inertial navigation system and the single-star positioning result of the low-orbit earth satellite by using a fusion algorithm.
6. The method according to claim 1, wherein the step S6 comprises:
using the low-orbit enhanced signal single-star positioning result assisted by the inertial navigation system as priori information, reducing the frequency and code phase searching range in the capturing process of the satellite navigation signal, and carrying out quick frequency searching and code phase synchronization of the satellite navigation signal;
selecting a non-text information branch of the satellite navigation signal, stripping subcodes after code phase synchronization, performing long-time coherent integration in the capturing and tracking stages of the satellite navigation signal, and obtaining coherent integration gain.
7. A low-rail enhanced, GNSS and IMU fused sustained navigation apparatus implemented using the low-rail enhanced, GNSS and IMU fused sustained navigation method of any of claims 1 to 6, comprising: the system comprises a signal receiving module (201), an inertial measurement unit module (202), a capture judging module (203), a combined positioning module (204), a single-star positioning module (205) and a navigation enhancing module (206);
the signal receiving module (201) is used for capturing, tracking and text information resolving a satellite navigation signal sent by a global navigation satellite system and a low-orbit enhancement signal sent by a low-orbit earth satellite;
the inertial measurement unit module (202) is used for passive inertial navigation positioning and outputting a positioning result;
the capturing judging module (203) is configured to judge whether the satellite navigation signal is captured normally, when the satellite navigation signal is captured normally, output a captured tracking signal and the positioning result to the combined positioning module (204), otherwise output a captured tracking signal and the positioning result to the single-star positioning module (205);
the combined positioning module (204) is used for fusing the positioning result with the satellite navigation signal to realize combined navigation positioning of an inertial navigation system and a global navigation satellite system;
the single-star positioning module (205) is used for carrying out single-star positioning of the low-orbit earth satellite according to the information input by the signal receiving module, correcting a single-star positioning result by utilizing positioning information of an inertial navigation system, and fusing the single-star positioning result with the inertial navigation positioning result;
the navigation enhancement module (206) is used for completing long-time coherent integration of the satellite navigation signal capturing and tracking process according to a single-star positioning result and by utilizing the forwarded ephemeris information of the low-orbit enhancement signal, and assisting capturing and tracking of the satellite navigation signal.
8. The apparatus of claim 7, wherein the signal receiving module (201) comprises: a satellite signal down-conversion and baseband processing sub-module and an electric text resolving and information processing sub-module;
the satellite signal down-conversion and baseband processing submodule is used for receiving satellite navigation signals sent by a global navigation satellite system and low-orbit enhancement signals sent by low-orbit earth satellites, capturing and tracking the signals, and obtaining signal accumulation parameters;
the message resolving and information processing sub-module is used for recovering message bit information according to the signal accumulation quantity parameter, resolving ephemeris parameters and calculating satellite position and speed information according to the ephemeris parameters.
9. The apparatus of claim 7, wherein the combined positioning module (204) is a combined navigation positioning module of inertial navigation system and global navigation satellite system, and is configured to fuse the positioning result with the satellite navigation signal information by using a fusion algorithm, and compress a tracking loop of the satellite navigation signal by using autonomous positioning information of the inertial navigation system, so as to assist continuous tracking of the satellite navigation signal.
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