CN115451957A - Inertial navigation satellite navigation positioning method and system based on inertial navigation satellite navigation tight combination - Google Patents

Abstract

The satellite positioning and navigation method and system of the inertial navigation and satellite tight navigation combination initializes the inertial navigation unit by using the positioning value and the direction finding value when the satellite navigation is static, and completes the initial alignment and the initial position assignment of the inertial navigation unit; collecting radio frequency signals at a first frequency, and resolving the collected radio frequency signals through navigation messages to calculate a pseudo range value from a satellite to the center of an antenna of a satellite navigation receiver; correcting the resolved pseudo range value according to different reflection coefficients of the scene objects around the map navigation terminal to obtain a corrected pseudo range value; receiving inertial navigation measurements at a second frequency higher than the first frequency; calculating two adjacent frames of inertial navigation measurement values of the radio frequency signals at the same time, calculating the inertial navigation measurement value corresponding to the time point by adopting a linear interpolation method, comparing the inertial navigation measurement value with the corrected pseudorange value of the corresponding radio frequency signal, removing all corrected pseudorange values exceeding a threshold value, and then performing satellite navigation positioning calculation to obtain a positioning signal.

Description

Satellite navigation positioning method and system based on inertial navigation satellite navigation tight combination

Technical Field

The invention relates to the technical field of high-precision positioning, in particular to a satellite positioning navigation system with an inertial navigation satellite and satellite navigation tight combination.

Background

With the continuous improvement of the technological level in recent years, artificial intelligence is rapidly developed and widely applied to various fields. Among them, the automatic driving technology is becoming more and more a focus of people's attention because the automatic driving vehicle can efficiently utilize traffic resources, alleviate traffic congestion, and reduce carbon emission. And the high-grade assistant driving is in a commercial stage in mass production, and particularly a new energy vehicle type can realize navigation assistance on a highway and even an urban road.

The high-precision positioning technology is one of key technologies for realizing advanced auxiliary driving and automatic driving, is also a basic technology, and simultaneously influences the performances of modules such as a high-precision map, perception recognition and the like. Currently, a vehicle-mounted high-precision positioning System mainly depends on a Global Navigation Satellite System (GNSS) technology and an Inertial Navigation System (INS) technology.

The GNSS provides high-precision positioning information only in an open environment, and when a satellite signal is shielded, the positioning error is large or even the positioning cannot be performed. The INS acquires current position information through internal inertial devices (a gyroscope and an accelerometer); the INS is closed and does not need to communicate with the outside, so that the independence is strong; the disadvantage of INS is that inertial navigation suffers from drift as navigation continues, which is caused by temperature changes, vibrations, but can be compensated for by algorithms.

However, in practical application, the GNSS provides absolute positioning values in most scenes, the precision and reliability of the GNSS seriously affect the implementation of advanced driving assistance performance, and particularly in special scenes such as urban high buildings or shade roads, the GNSS is affected by multipath errors, so that the self-predicted positioning state is seriously inconsistent with the actual positioning precision, and the output precision of the whole multi-sensor fusion positioning system is further affected.

Therefore, the problems of the prior art are to be further improved and developed.

Disclosure of Invention

The object of the invention is: in order to solve the problems in the prior art, the present invention provides a satellite navigation positioning system with a tight combination of inertial navigation satellite and satellite navigation, so as to improve the accuracy of satellite navigation positioning.

The technical scheme is as follows: in order to solve the above technical problems, the present technical solution provides a satellite positioning and navigation method using a map navigation terminal with tight combination of inertial navigation satellite navigation, wherein the method comprises the following steps,

initializing an inertial navigation unit by using a positioning value and a direction-finding value when satellite navigation is static, and finishing initial alignment and initial position assignment of the inertial navigation unit;

step two, collecting radio frequency signals at the first frequency, and resolving the collected radio frequency signals through navigation messages to obtain pseudo range values from the satellite to the antenna center of the satellite navigation receiver; resolving the pseudo-range value comprises a combined signal after interference of direct waves and reflected waves, and correcting the resolved pseudo-range value according to different reflection coefficients of scene objects around the map navigation terminal to obtain a corrected pseudo-range value;

receiving inertial navigation measurement values at a second frequency higher than the first frequency, wherein the inertial navigation measurement values comprise real-time output three-dimensional attitude, position and speed information;

and step four, calculating two adjacent frames of inertial navigation measurement values of the radio frequency signals at the same time, calculating the inertial navigation measurement value corresponding to the time point by adopting a linear interpolation method, comparing the inertial navigation measurement value with the corrected pseudorange value of the corresponding radio frequency signal, removing all corrected pseudorange values exceeding a threshold value, and then performing satellite navigation positioning calculation to obtain a positioning signal.

The satellite positioning and navigation method based on the inertial navigation satellite tight navigation combination comprises the following steps of:

receiving a first radio frequency signal to a map navigation terminal at a first time, wherein the first radio frequency signal comprises: the combined signal is used for calculating a pseudo-range value after interference of direct waves and reflected waves in the radio-frequency signals; calculating a first positioning place according to the radio frequency signals received at the first time; acquiring scene information in a reflection cube containing a first positioning place according to the first positioning place; and according to the scene object contained in the scene information in the reflection cube and the reflection coefficient table of the scene object, correcting the first pseudo-range value to obtain a corrected pseudo-range value.

The inertial navigation satellite tightly-combined satellite positioning navigation method comprises the following steps:

the reflection cube is used for determining a space range which takes a map navigation terminal as a center, has a left-right distance as a first threshold, a front-back distance as a second threshold and an upper-lower distance as a third threshold, and is used for positioning a scene object which contributes to a reflected wave in a radio frequency signal.

The satellite positioning and navigation method of the inertial navigation satellite navigation tight combination comprises the steps that a first threshold value, a second threshold value and a third threshold value are dynamically adjusted according to the distance of an obstacle identified by a laser reflection signal; and if the obstacle distance is smaller than the corresponding threshold value, replacing the corresponding threshold value by the obstacle distance, wherein the corresponding threshold value comprises a first threshold value, a second threshold value or a third threshold value.

The inertial navigation satellite navigation method is characterized in that the map information displayed by the map information unit comprises the following steps: the map navigation system comprises navigation data of a map navigation terminal, scene information which is stored in a server and matched with the navigation data, and scene object data corresponding to the scene information.

The inertial navigation satellite navigation tight combination satellite positioning and navigation method is characterized in that the scene information matched with navigation data of the server comprises the following steps: the navigation map is divided into map grids, and scene objects of the real world are distributed on the navigation map.

The satellite positioning and navigation method based on the inertial navigation satellite navigation tight combination comprises the steps that the scene object is provided with an independent identifier, and the identifier of the scene object is bound with the identifier of the map grid.

The inertial navigation-assisted satellite positioning navigation method is characterized in that the scene coefficient table is stored in a map navigation terminal or a server.

The inertial navigation and guard tight navigation combined satellite positioning and navigation method is characterized in that the server positions a map grid covering a reflection cube corresponding to the position information of the reflection cube, and sends a scene object and/or a scene object reflection coefficient in the positioned map grid to the map navigation terminal.

A satellite positioning navigation system with tight combination of inertial navigation satellite navigation comprises an application map navigation terminal and a server, wherein the map navigation terminal comprises a map information unit, a satellite navigation unit and an inertial navigation unit,

the satellite navigation unit initializes the inertial navigation unit by using a positioning value and a direction finding value when the satellite navigation is static and finishes initial alignment and initial position assignment;

the satellite navigation unit collects radio frequency signals at a first frequency, and the collected radio frequency signals are resolved into pseudo-range values from a satellite to the center of an antenna of a satellite navigation receiver through navigation messages; resolving the pseudo-range value comprises a combined signal after interference of direct waves and reflected waves, and correcting the resolved pseudo-range value according to different reflection coefficients of scene objects around the map navigation terminal to obtain a corrected pseudo-range value;

the inertial navigation unit receives inertial navigation measurement values at a second frequency higher than the first frequency, wherein the inertial navigation measurement values comprise real-time output three-dimensional attitude, position and speed information;

calculating two adjacent frames of inertial navigation measurement values of the radio frequency signals at the same time, calculating the inertial navigation measurement value corresponding to the time point by adopting a linear interpolation method, comparing the inertial navigation measurement value with the corrected pseudorange value of the corresponding radio frequency signal, removing all corrected pseudorange values exceeding a threshold value, and then performing satellite navigation positioning calculation to obtain a positioning signal.

(III) the beneficial effects are that: according to the satellite positioning and navigation method and system based on the inertial navigation satellite tight navigation combination, firstly, when pseudo-range values of acquired radio frequency signals are calculated, the influence of the surrounding environment on reflection coefficients of reflected waves is fully considered, and objects influencing the reflected waves at the periphery of a map navigation terminal are acquired in a mode of reflecting cube acquired scene objects, so that the calculation amount of the server for calculating the objects influencing the reflected waves can be reduced, and the calculation efficiency is improved.

Drawings

FIG. 1 is a schematic flow chart of a satellite positioning and navigation method of inertial navigation system and satellite navigation system;

FIG. 2 is a schematic structural diagram of a satellite positioning and navigation system with inertial navigation system and satellite navigation system combined closely according to the present invention.

Detailed Description

The present invention will be described in further detail with reference to preferred embodiments, and more details are set forth in the following description in order to provide a thorough understanding of the present invention, but it is apparent that the present invention can be embodied in many other forms different from the description herein and can be similarly generalized and deduced by those skilled in the art based on the practical application without departing from the spirit of the present invention, and therefore, the scope of the present invention should not be limited by the contents of this detailed embodiment.

The drawings are schematic representations of embodiments of the invention, and it is noted that the drawings are intended only as examples and are not drawn to scale and should not be construed as limiting the true scope of the invention.

The invention provides a satellite positioning and navigation method of inertial navigation satellite tight navigation combination, as shown in figure 1, which applies a map navigation terminal and comprises the following steps,

initializing an inertial navigation unit by using a positioning value and a direction-finding value when satellite navigation is static, and finishing initial alignment and initial position assignment of the inertial navigation unit;

step two, collecting radio frequency signals at the first frequency, and resolving the collected radio frequency signals through navigation messages to obtain a pseudo range value from a satellite to the antenna center of a satellite navigation receiver; resolving the pseudo-range value comprises a combined signal after interference of direct waves and reflected waves, and correcting the resolved pseudo-range value according to different reflection coefficients of scene objects around the map navigation terminal to obtain a corrected pseudo-range value;

receiving inertial navigation measurement values at a second frequency higher than the first frequency, wherein the inertial navigation measurement values comprise real-time output three-dimensional attitude, position and speed information;

and step four, calculating two adjacent frames of inertial navigation measurement values of the radio frequency signals at the same time, calculating the inertial navigation measurement value corresponding to the time point by adopting a linear interpolation method, comparing the inertial navigation measurement value with the corrected pseudo range value of the corresponding radio frequency signal, removing all the corrected pseudo range values exceeding the threshold value, and then performing satellite navigation positioning calculation to obtain a positioning signal.

The invention provides a satellite positioning and navigation method of inertial navigation satellite tight-navigation combination, preferably, a map navigation terminal is applied, the map navigation terminal comprises a map information unit, a satellite navigation unit and an inertial navigation unit, the method comprises the following steps,

step 201, the satellite navigation unit initializes the inertial navigation unit by using a positioning value and a direction finding value when the satellite navigation is static, and completes initial alignment and initial position assignment;

step 202, the satellite navigation unit finishes radio frequency signal acquisition at a first frequency, and the acquired radio frequency signals are resolved through navigation messages to calculate a pseudo range value from a satellite to the center of an antenna of a satellite navigation receiver; the resolving of the pseudo-range value comprises a combined signal after interference of direct waves and reflected waves, and the resolved pseudo-range value is corrected according to different reflection coefficients of scene objects around the map navigation terminal to obtain a corrected pseudo-range value.

And 203, the satellite navigation unit receives the measurement value of the inertial navigation unit, the inertial navigation unit receives the inertial navigation measurement value at a second frequency higher than the first frequency, and the inertial navigation measurement value comprises real-time output three-dimensional attitude, position and speed information.

And 204, calculating two adjacent frames of inertial navigation measurement values of the radio frequency signals at the same time, calculating the inertial navigation measurement value corresponding to the time point by adopting a linear interpolation method, comparing the inertial navigation measurement value with the corrected pseudorange value of the corresponding radio frequency signal, removing all corrected pseudorange values exceeding a threshold value, and then performing satellite navigation positioning calculation to obtain a positioning signal.

The inertial navigation unit resolves at a second frequency which is not lower than the first frequency, and outputs three-dimensional attitude, position and speed information in real time; the second frequency is preferably 100Hz.

The inertial navigation unit outputs a positioning value at a high frequency, the satellite navigation unit outputs a pseudo-range value of a radio frequency signal at a low frequency relatively, and interpolation calculation is required to be carried out according to time information corresponding to the pseudo-range value of satellite navigation, so that an inertial navigation measurement value corresponding to a time point is accurately calculated. After interpolation, the distance value between the antenna center of the receiver and the navigation satellite can be calculated according to the inertial navigation measured value and the corrected pseudo range value, and the distance value is compared with a threshold value to remove the abnormal corrected pseudo range value.

The satellite navigation unit acquires radio frequency signals and resolves positioning signals, wherein a pseudo range value is resolved by a combined signal obtained after interference of direct waves and reflected waves, and the resolving of the pseudo range value comprises the following steps:

step 301, the satellite navigation unit receives a first radio frequency signal to a map navigation terminal at a first time, where the first radio frequency signal includes: and the combined signal after interference of the direct wave and the reflected wave in the satellite signal is used for calculating the pseudo-range value.

Step 302, the map information unit receives a first radio frequency signal according to a first time, and obtains a first positioning location corresponding to the first radio frequency signal, where the first positioning location is an estimated location and is inaccurate. Further acquiring scene information in a reflection cube containing the first positioning location according to the first positioning location; and according to the scene object contained in the scene information in the reflection cube and the reflection coefficient table of the scene object, correcting the first pseudo-range value to obtain a corrected pseudo-range value.

The map navigation terminal can be a terminal which needs map navigation, such as an unmanned automobile, an unmanned airplane, an automobile which needs navigation and the like, and the specific terminal is not limited.

The reflection cube is a space range which influences the positioning of the map navigation terminal, and the space range is set by taking the map navigation terminal as a center, taking the left-right distance as a first threshold value, taking the front-back distance as a second threshold value and taking the up-down distance as a third threshold value. Preferably, the first threshold, the second threshold and the third threshold may be within 15 meters, or may be adjusted according to specific situations. The reflection cube is used to determine the location of scene objects that contribute to reflections in the radio frequency signal of the satellite signal. The first threshold, the second threshold and the third threshold can be dynamically adjusted according to the obstacle distance identified by the laser reflection signal, and the first threshold, the second threshold and the third threshold are judged and adjusted according to the obstacle distance to obtain a reflection cube with a dynamic size. If the obstacle distance is less than the corresponding threshold, the obstacle distance may be substituted for the corresponding threshold, including the first threshold, the second threshold, or the third threshold.

The map information displayed by the map information unit comprises the following steps: the map navigation system comprises navigation data of a map navigation terminal, scene information which is stored in a server and matched with the navigation data, and scene object data corresponding to the scene information. The navigation data of the map information includes: current location information, key location information, navigation routes, landmark information, and the like. The scene information matched with the navigation data of the server comprises: the navigation map equally divides the navigation map into map grids, scene objects of the real world, including buildings, trees, rivers, rice fields and the like, are distributed on the navigation map, and the scene objects can be live-action pictures observed on the spot and also can be three-dimensional stereograms presented by automatic AI modeling, and are not limited here. The map grid may be set to 10m × 10m, and the division may be performed according to the accuracy of satellite navigation positioning, which is not limited herein. The scene object has an independent identifier, and the identifier of the scene object and the identifier of the map grid are bound, for example:

the data volume of scene objects contained in the scene information is large, the navigation map is divided into map grids, the reduction of data transmission of a map navigation terminal and a server is facilitated, and the detailed embodiment is as follows:

in the second step, the server positions a map grid covering the reflection cube corresponding to the position information of the reflection cube, and sends the scene object and/or the scene object reflection coefficient in the positioned map grid to the map navigation terminal. A table of reflection coefficients for scene objects, the reflection coefficients being denoted by α; α =0 indicates that the signal is fully absorbed, not reflected; α =1 indicates that the signal is fully emitted and not absorbed.

Some examples of the reflection coefficient table are as follows:

the invention considers that the weather temperature can influence the reflection coefficient, sets an influence factor in the reflection coefficient table, and adjusts the reflection coefficient of the scene object according to the weather temperature. The emission coefficient influence factor table of the invention is preferably stored in a map navigation terminal, and the partial reflection coefficient influence factor table is as follows:

the map navigation terminal is provided with a weather acquisition module, wherein the weather acquisition module is used for acquiring weather information which influences satellite positioning signals, such as temperature, illumination and the like of a scene, and is associated with a reflection coefficient influence factor table; and a coefficient adjusting module is arranged in the reflection coefficient table, and the coefficient adjusting module adds an influence factor to the reflection coefficient of the scene object in the reflection coefficient table according to the weather condition of the scene.

The pseudo-range value correction calculation needs to judge the scene object reflected by the first signal in the reflecting cube, the reflection coefficient and the influence factor of the scene object, and carries out correction calculation on the first positioning signal according to the reflection coefficient and the influence factor so as to improve the positioning accuracy.

For example, the map navigation terminal is located on a bridge, one side is a cliff, the other side is a reservoir, the map information unit can identify the distance between the cliff of the obstacle according to the laser reflection signal so as to optimize the range of the reflection cube, the server is obtained according to the optimized numerical value of the reflection cube, the scene object contained in the reflection cube, the cliff and the reservoir are obtained, and the reflection coefficients of the cliff and the reservoir are obtained. The map navigation terminal also acquires that the ambient temperature exceeds 38 ℃ through a weather acquisition module, belongs to high-temperature weather, and at the moment, ambient environmental factors can have great influence on the reflection coefficient, so that the map navigation terminal can associate a reflection coefficient influence factor table to acquire influence factors corresponding to cliffs and reservoirs.

The direct wave signal expression is as follows: u is signal voltage, and w is angular frequency of carrier wave;

the expression of the reflected signal is:

u is the amplitude of the direct signal, ω is the angular frequency of the carrier satellite, θ is the phase delay of the reflected signal, and α is the reflection coefficient of the object. Since the satellite receives the superimposed signal of the reflected signal and the direct signal, the signal actually received by the antenna is:

beta and phi are:

phi is the multipath error, when a plurality of reflected signals enter the antenna of the receiver at the same time, the multipath error at this moment is:

according to the steps, the pseudo range value is corrected through the reflection coefficient and the reflection coefficient factor to obtain a corrected pseudo range value.

The invention relates to a satellite positioning navigation method and a system of inertial navigation satellite tight combination, which need to strictly judge the reliability of the current satellite navigation positioning value, acquire radio frequency signals by adopting multi-epoch observation under the traditional static condition, improve the elevation threshold value of the navigation satellite participating in positioning to be 45 degrees (usually, the satellite navigation takes 0 degree or 15 degrees as the threshold value), and simultaneously ensure that the number of the current participating satellites is not less than 12 and the differential positioning state is a fixed solution.

The invention provides a satellite positioning and navigation system with a tightly combined inertial navigation satellite system, which comprises an application map navigation terminal and a server, wherein the map navigation terminal comprises a map information unit, a satellite navigation unit and an inertial navigation unit. The satellite navigation unit initializes the inertial navigation unit by using a positioning value and a direction finding value when the satellite navigation is static, and completes initial alignment and initial position assignment. The satellite navigation unit finishes radio frequency signal acquisition at a first frequency, and the acquired radio frequency signal is used for resolving a pseudo-range value from a satellite to the center of an antenna of a satellite navigation receiver through a navigation message; the resolving of the pseudo-range value comprises a combined signal after interference of direct waves and reflected waves, and the resolved pseudo-range value is corrected according to different reflection coefficients of scene objects around the map navigation terminal to obtain a corrected pseudo-range value. The satellite navigation unit receives the measurement value of the inertial navigation unit, the inertial navigation unit receives the inertial navigation measurement value at a second frequency higher than the first frequency, and the inertial navigation measurement value comprises real-time output three-dimensional attitude, position and speed information. Calculating two adjacent frames of inertial navigation measurement values of the radio frequency signals at the same time, calculating the inertial navigation measurement value corresponding to the time point by adopting a linear interpolation method, comparing the inertial navigation measurement value with the corrected pseudo range value of the corresponding radio frequency signal, removing all the corrected pseudo range values exceeding the threshold value, and then performing satellite navigation positioning calculation to obtain the positioning signal.

After the map navigation terminal finishes one-time radio frequency signal settlement, two adjacent frames of inertial navigation measured values are found at the time point corresponding to the current latest radio frequency signal by using the time synchronization information, and the inertial navigation measured value corresponding to the time point is calculated by adopting a linear interpolation method. Comparing the inertial navigation measurement value obtained by interpolation calculation at the current moment with the measurement value of the radio frequency signal of satellite navigation corresponding to the time point, calculating a difference value, comparing the difference value with a set threshold value (N times of a system design index, wherein N is related to the satellite number, the differential positioning state and the PDOP value according to the current satellite navigation state mark), and giving out judgment whether the satellite navigation positioning value is inaccurate; if the difference is exceeded, the corresponding radio frequency signal calculation value is removed, the inertial navigation accumulated error correction is not carried out any more, and the inertial navigation recursion positioning value is output at the current moment; and if the error does not exceed the preset value, inputting the corresponding radio frequency signal calculation value into a Kalman filter, accumulating errors according to the current inertial navigation, and correcting.

When the number of satellites is more than 12 and the pdop value is less than 2.0, the difference state is a fixed solution, and N takes a value of 3; when the number of satellites is more than 12 and the pdop value is less than 2.0, the differential state is a non-fixed solution, and N takes the value of 1; when the number of satellites is more than 12 and the pdop value is not less than 2.0, the difference state is a fixed solution, and N takes the value of 2; when the number of satellites is more than 12 and the pdop value is not less than 2.0, the difference state is a non-fixed solution, and N takes the value of 1; when the number of satellites is not more than 12 and the pdop value is less than 2.0, the difference state is a fixed solution, and N takes the value of 2; when the number of satellites is not more than 12 and the pdop value is not less than 2.0, the N value is 1. When a certain time tmax is accumulated (usually set according to the inertial navigation system using IMU precision), the system gives an instability warning flag, prompting the user that the system can be reset.

When the inertial navigation unit initially works, whether the measurement value of the satellite navigation unit is reliable or not is strictly judged according to different requirements, and the fact that the inertial navigation unit is not polluted during initialization is guaranteed; the inertial navigation unit outputs a positioning value at a high frequency, the satellite navigation unit outputs a low frequency relatively, interpolation calculation is carried out according to time information corresponding to the satellite navigation positioning value, and an inertial navigation measured value corresponding to a time point is accurately calculated; after interpolation, the inertial navigation measurement value is subtracted from the satellite navigation positioning value, when the inertial navigation measurement value is compared with the threshold value, the threshold value needs to be N times, the threshold value cannot be a fixed value, and correlation needs to be carried out according to state marks corresponding to the satellite navigation positioning value at the current moment, namely the satellite number, the PDOP value and the differential positioning state, so that the data accuracy of an inertial navigation unit is improved, and the positioning accuracy of the map navigation terminal is improved.

According to the satellite positioning and navigation method and system based on the inertial navigation satellite tight navigation combination, firstly, when pseudo-range values of acquired radio frequency signals are calculated, the influence of the surrounding environment on reflection coefficients of reflected waves is fully considered, and objects influencing the reflected waves at the periphery of a map navigation terminal are acquired in a mode of reflecting cube acquired scene objects, so that the calculation amount of the server for calculating the objects influencing the reflected waves can be reduced, and the calculation efficiency is improved. The invention also considers the great influence of the surrounding environmental factors on the reflection coefficient, so the reflection coefficient influence factor is introduced, the pseudo range value correction result of the invention is more accurate, and the obtained corrected pseudo range value is more accurate.

The above description is provided for the purpose of illustrating the preferred embodiments of the present invention and will assist those skilled in the art in more fully understanding the technical solutions of the present invention. However, these examples are merely illustrative and it is not considered that the embodiments of the present invention are limited to the description of these examples. For those skilled in the art to which the invention pertains, several simple deductions and changes can be made without departing from the inventive concept, and all should be considered as falling within the protection scope of the invention.

Claims (10)

1. A satellite positioning navigation method of inertial navigation satellite tight combination is applied to a map navigation terminal and is characterized by comprising the following steps,

initializing an inertial navigation unit by using a positioning value and a direction-finding value when satellite navigation is static, and finishing initial alignment and initial position assignment of the inertial navigation unit;

step two, collecting radio frequency signals at the first frequency, and resolving the collected radio frequency signals through navigation messages to calculate pseudo-range values from satellites to the center of a satellite navigation receiver antenna; resolving the pseudo-range value comprises a combined signal after interference of direct waves and reflected waves, and correcting the resolved pseudo-range value according to different reflection coefficients of scene objects around the map navigation terminal to obtain a corrected pseudo-range value;

receiving inertial navigation measurement values at a second frequency higher than the first frequency, wherein the inertial navigation measurement values comprise real-time output three-dimensional attitude, position and speed information;

and step four, calculating two adjacent frames of inertial navigation measurement values of the radio frequency signals at the same time, calculating the inertial navigation measurement value corresponding to the time point by adopting a linear interpolation method, comparing the inertial navigation measurement value with the corrected pseudorange value of the corresponding radio frequency signal, removing all corrected pseudorange values exceeding a threshold value, and then performing satellite navigation positioning calculation to obtain a positioning signal.

2. The method for satellite positioning and navigation based on tight inertial navigation satellite system integration according to claim 1, wherein the resolving of the pseudorange values comprises the steps of:

receiving a first radio frequency signal to a map navigation terminal at a first time, wherein the first radio frequency signal comprises: the combined signal is used for calculating a pseudo-range value after interference of direct waves and reflected waves in the radio-frequency signals; calculating a first positioning place according to the radio frequency signals received at the first time; acquiring scene information in a reflection cube containing a first positioning place according to the first positioning place; and according to the scene object contained in the scene information in the reflection cube and the reflection coefficient table of the scene object, correcting the first pseudo-range value to obtain a corrected pseudo-range value.

3. The inertial navigation system tightly combined satellite positioning and navigation method according to claim 2, wherein:

the reflection cube is used for determining a space range which takes a map navigation terminal as a center, has a left-right distance as a first threshold, a front-back distance as a second threshold and an upper-lower distance as a third threshold, and is used for positioning a scene object which contributes to a reflected wave in a radio frequency signal.

4. The method for satellite positioning and navigation in close inertial navigation system combination according to claim 3, wherein the first threshold, the second threshold and the third threshold are dynamically adjusted according to the distance of the laser reflection signal to identify the obstacle; and if the obstacle distance is smaller than the corresponding threshold value, replacing the corresponding threshold value by the obstacle distance, wherein the corresponding threshold value comprises a first threshold value, a second threshold value or a third threshold value.

5. The method for tightly integrated inertial navigation satellite positioning and navigation according to claim 2, wherein the map information unit displays map information including: the map navigation system comprises navigation data of a map navigation terminal, scene information which is stored in a server and matched with the navigation data, and scene object data corresponding to the scene information.

6. The inertial navigation satellite tightly combined positioning and navigation method according to claim 5, wherein the scene information of the server matched with the navigation data comprises: the navigation map is divided into map grids, and scene objects of the real world are distributed on the navigation map.

7. The inertial navigation and satellite navigation method combined tightly according to claim 6, wherein the scene object has an independent identifier, and the identifier of the scene object and the identifier of the map grid are bound.

8. The inertial navigation and satellite positioning navigation method of tight combination according to claim 7, wherein the scene coefficient table is stored in a map navigation terminal or a server.

9. The inertial navigation satellite positioning and navigation method according to claim 5, wherein the server locates a map grid covering the reflection cube corresponding to the position information of the reflection cube, and transmits the scene object and/or the scene object reflection coefficient in the located map grid to the map navigation terminal.

10. A satellite positioning navigation system of inertial navigation satellite tight-navigation combination comprises an application map navigation terminal and a server, wherein the map navigation terminal comprises a map information unit, a satellite navigation unit and an inertial navigation unit,

the satellite navigation unit initializes the inertial navigation unit by using a positioning value and a direction finding value when the satellite navigation is static and finishes initial alignment and initial position assignment;

the satellite navigation unit collects radio frequency signals at a first frequency, and the collected radio frequency signals are resolved through navigation messages to calculate pseudo-range values from satellites to the center of an antenna of a satellite navigation receiver; resolving the pseudo-range value, wherein the resolving of the pseudo-range value comprises a combined signal after interference of direct waves and reflected waves, and the resolved pseudo-range value is corrected according to different reflection coefficients of scene objects around the map navigation terminal to obtain a corrected pseudo-range value;

the inertial navigation unit receives inertial navigation measurement values at a second frequency higher than the first frequency, wherein the inertial navigation measurement values comprise real-time output three-dimensional attitude, position and speed information;

calculating two adjacent frames of inertial navigation measurement values of the radio frequency signals at the same time, calculating the inertial navigation measurement value corresponding to the time point by adopting a linear interpolation method, comparing the inertial navigation measurement value with the corrected pseudorange value of the corresponding radio frequency signal, removing all corrected pseudorange values exceeding a threshold value, and then performing satellite navigation positioning calculation to obtain a positioning signal.

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