CN118258384A - Navigation method and device based on GNSS and IMU, and terminal equipment - Google Patents
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Abstract
The invention discloses a navigation method, a navigation device and terminal equipment based on GNSS and IMU, wherein the method comprises the following steps: the method comprises the steps of constructing a Kalman filter by taking a double-difference pseudo-range observation value and a cycle slip detected and repaired double-difference carrier phase observation value as an observation value and taking a position error, a speed error, an attitude error, an accelerometer drift error, a gyroscope drift error and a single-difference carrier offset of each frequency of each GNSS system as state quantities; filtering based on a Kalman filter, and performing feedback correction by using a state quantity integrated navigation system obtained by filtering to obtain an accurate positioning result of the carrier. The invention is applied to the field of navigation positioning, and carries out quick and accurate cycle slip detection on GNSS through an IMU auxiliary carrier phase three-difference model, thereby improving the sensitivity of GNSS cycle slip detection and the accuracy of cycle slip repair, further improving the positioning precision of the carrier, improving the coverage rate of a combined fixed solution and being widely applied in complex environments.
Description
Technical Field
The invention relates to the technical field of navigation positioning, in particular to a navigation method, a navigation device and terminal equipment based on GNSS and IMU.
Background
GNSS (Global Navigation SATELLITE SYSTEM ) cycle slip refers to a phenomenon in which carrier phase jumps due to a temporary loss of lock of a carrier phase locked loop caused by an unexpected interruption of a GNSS signal. If it is not repaired, it will cause ambiguity reinitialization, causing reduced navigation positioning accuracy and even re-convergence at other erroneous locations, with false fix solutions. At present, the cycle slip detection method mainly comprises the following steps: a polynomial fitting method; ionospheric residual methods and pseudo-range/phase combination methods. It is not difficult for the GNSS multifrequency measurement data to detect and correct a significant portion of the cycle slip during the preprocessing phase. However, for the dynamic measurement data of the GNSS single frequency, it is difficult to completely detect some small cycle slips only by using the satellite station observation values, so that other observation information needs to be assisted for detection and verification.
The invention discloses a Chinese patent application with publication number of CN107917708A, and the name of the Chinese patent application is 'GPS/INS tightly combined cycle slip detection and repair algorithm based on Bayesian compression perception', which can effectively reduce the cycle slip detection error rate of GNSS under specific conditions, but in practice, the signals of GNSS carriers are not only subjected to centralized processing, but also subjected to distributed processing, so that the sensitivity of cycle slip detection still needs to be improved.
The publication number is CN107505642A, the name of the invention is INS-assisted real-time BDS single-frequency cycle slip detection method, the statistical characteristics of the method are utilized to calculate the cycle slip detection false detection rate, under the condition of determining the false detection rate, a proper threshold value is selected by a confidence level value and a standard deviation, whether cycle slip occurs or not is judged according to the difference value and the threshold value, and if the cycle slip occurs, the cycle slip detection is realized by utilizing a parameter estimation method. The sensitivity and error rate of detecting cycle slip of the invention depend on threshold selection, and when the invention is applied to GNSS multi-system, the problem of difficult parameter tuning is faced.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a navigation method, a navigation device and terminal equipment based on GNSS and IMU, which can rapidly and accurately detect and correct cycle slip of GNSS carrier phase under static or dynamic conditions, thereby effectively improving the positioning accuracy of a carrier.
In order to achieve the above object, the present invention provides a navigation method based on GNSS and IMU, in which a GNSS/IMU integrated navigation system is mounted on a carrier, the navigation method comprising the steps of:
Step 1, performing cycle slip detection and repair on GNSS carrier phases based on an IMU and a carrier phase three-difference model;
Step 2, a double-difference pseudo-range observation value and a cycle slip detection and repair double-difference carrier phase observation value of the GNSS/IMU tightly combined navigation system are taken as observation values, and a position error, a speed error, an attitude error, an accelerometer drift error, a gyroscope drift error and a single-difference carrier offset of each frequency of each GNSS system are taken as state quantities to construct a Kalman filter;
And step 3, filtering based on the Kalman filter, and carrying out feedback correction on the GNSS/IMU integrated navigation system by using the state quantity obtained by filtering to obtain the accurate positioning result of the carrier.
In one embodiment, in step 1, the process of cycle slip detection on the GNSS carrier phase is:
Judging whether the carrier is in a static state or not:
if yes, judging whether cycle slip occurs in the GNSS carrier phase or not based on the three-difference observation value of the GNSS carrier phase;
Otherwise, judging whether the GNSS carrier phase is subject to cycle slip or not based on the three-difference observed value of the GNSS carrier phase and the position increment of the IMU.
In one embodiment, if the carrier is in a static state, determining whether Δz A (t+1, t) > λ/2 is true, if so, determining that the GNSS carrier phase is cycle-slip, otherwise, determining that the GNSS carrier phase is not cycle-slip;
Wherein Δz A (t+1, t) is the three-difference observation of the GNSS carrier phase between epoch t+1 and epoch t, λ is the GNSS carrier wavelength.
In one embodiment, if the carrier is not in a static state, determining whether Δz A (t+1, t) -hΔx (t+1, t) > λ/2 is true, if yes, determining that the GNSS carrier phase is cycle-slip, otherwise determining that the GNSS carrier phase is not cycle-slip;
Wherein Δz A (t+1, t) is a three-difference observation value of the GNSS carrier phase between epoch t+1 and epoch t, H is a transition matrix between the two-difference observation value and the state quantity, Δx (t+1, t) is a position increment of the IMU from epoch t to epoch t+1, and λ is the GNSS carrier wavelength.
In one embodiment, in step 1, when the carrier is in a static state and the GNSS carrier phase is cycle-hopped, the process of performing cycle-hopped repair on the dual-difference carrier phase observation value is:
First, the cycle slip size is estimated as:
wherein CS is cycle slip size, E (&) represents a weighted average;
and then, repairing the integer ambiguity of the GNSS carrier phase based on the estimated cycle slip size to obtain the correct integer ambiguity after cycle slip, and obtaining the double-difference carrier phase observation value after cycle slip repair.
In one embodiment, in step 1, when the carrier is not in a static state and the GNSS carrier phase is cycle-hopped, the process of performing cycle-hopped repair on the dual-difference carrier phase observation value is:
First, the cycle slip size is estimated as:
wherein CS is cycle slip size, E (&) represents a weighted average;
and then, repairing the integer ambiguity of the GNSS carrier phase based on the estimated cycle slip size to obtain the correct integer ambiguity after cycle slip, and obtaining the double-difference carrier phase observation value after cycle slip repair.
In one embodiment, a determination is made as to whether the GNSS/IMU compact system is in a stationary state based on an IMU zero speed update.
In one embodiment, in step 2, the state quantity is:
Wherein x nav is the state quantity, δr is the position error of the navigation solution, δv is the velocity error of the navigation solution, δψ is the attitude error of the navigation solution, b a is the accelerometer drift error, b g is the gyroscope drift error, For each system of GNSS, the single-difference carrier offset of each frequency is a state quantity, r represents a mobile station, b represents a base station, s represents a satellite number, and i represents a frequency number;
The state equation and the observation equation of the GNSS/IMU tightly combined navigation system in the filtering process are as follows:
Xt+1＝FtXt+GtWt
Z＝HX+e
Wherein, X t+1、Xt is the state value of the state quantity X nav at epoch t+1 and epoch t, F t is the state transition matrix updated by the state quantity X nav along with time, W t is zero-mean white gaussian noise, G t is the system dynamic noise matrix, Z is the observed quantity, H is the transition matrix between the double-difference observed value and the state quantity X nav, and e is the observed noise;
The observed quantity Z is obtained by double-difference carrier phase observation value And double-difference pseudo-range observation valueComposition, i.e
In order to achieve the above object, the present invention further provides a navigation device based on GNSS and IMU, including:
GNSS；
IMU；
And the navigation correction unit is used for performing navigation positioning on the carrier by the method.
In order to achieve the above object, the present invention further provides a terminal device, where the terminal device is an unmanned vehicle, an unmanned plane, an unmanned device or a mobile robot, and the terminal device is provided with:
A memory for storing a program;
And a processor for executing the program stored in the memory, the processor being configured to perform some or all of the steps of the method as described above when the program is executed.
The invention has the following beneficial technical effects:
1. according to the invention, the GNSS is quickly and accurately detected by the three-difference model of the auxiliary carrier phase of the IMU (Inertial Measurement Unit, namely the inertial measurement unit), and especially, small cycle slips can be further sensitively detected in a static state of the GNSS, so that the method is not only suitable for a multi-frequency GNSS system, but also suitable for a single-frequency GNSS system;
2. the invention skillfully applies the static detection of the IMU, and improves the cycle slip detection accuracy in the static environment;
3. The invention effectively improves the GNSS cycle slip detection sensitivity and cycle slip repair accuracy in the GNSS/IMU tightly integrated navigation system, further improves the integral positioning accuracy of the GNSS/IMU tightly integrated navigation system, improves the coverage rate of the combined fixed solution, and has wide application in complex environments.
Drawings
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 in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a navigation method in an embodiment of the present invention;
FIG. 2 is a flowchart of cycle slip detection and repair in an embodiment of the present invention;
FIG. 3 is a block diagram of a navigation device according to an embodiment of the present invention;
fig. 4 is a block diagram of a terminal device according to an embodiment of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.
Example 1
The embodiment discloses a navigation method of GNSS and IMU, through carrying GNSS and IMU on carriers such as unmanned vehicles, robots, unmanned aerial vehicle, etc., carry out quick and accurate cycle slip detection to GNSS through the three-difference model of IMU auxiliary carrier phase, ingenious application IMU's stationary detection has improved cycle slip detection accuracy under the static environment, and then has improved GNSS/IMU tightly integrated navigation system's whole positioning accuracy, has improved the coverage rate of combination fixed solution, has extensive application in complicated environment.
Referring to fig. 1, the navigation method based on GNSS and IMU in the present embodiment specifically includes the following steps 1 to 3.
Step 1, performing cycle slip detection and repair on the carrier phase of the GNSS based on the IMU and the three-difference model of the carrier phase, and referring to FIG. 2, the method specifically comprises two parts of cycle slip detection and cycle slip repair.
In this embodiment, the cycle slip detection is implemented as follows:
Firstly, obtaining double-difference observables of GNSS carrier phases in a GNSS/IMU tight combination system, and subtracting the double-difference observables of two adjacent epoch moments to obtain a triple-difference observables of the GNSS carrier phases;
Then, it is judged whether the carrier is in a stationary state:
If yes, judging whether cycle slip occurs in the GNSS carrier phase or not based on the three-difference observation value of the GNSS carrier phase, specifically:
Judging whether delta Z A (t+1, t) > lambda/2 is met, if yes, judging that the GNSS carrier phase is subject to cycle slip, otherwise, judging that the GNSS carrier phase is not subject to cycle slip;
Otherwise, judging whether the GNSS carrier phase is cycle-hopped or not based on the three-difference observed value of the GNSS carrier phase and the position increment of the IMU, and specifically:
Judging whether delta Z A (t+1, t) -H delta X (t+1, t) > lambda/2 is true, if yes, judging that the GNSS carrier phase is subject to cycle slip, otherwise, judging that the GNSS carrier phase is not subject to cycle slip;
Wherein Δz A (t+1, t) is a three-difference observed value of the GNSS carrier phase between epoch t+1 and epoch t, that is, Δz A(t+1,t)＝ZA(t+1)-ZA(t),ZA (t+1) is a double-difference carrier phase observed value of the GNSS at epoch t+1, and Z A t) is a double-difference carrier phase observed value of the GNSS at epoch t; λ is the GNSS carrier wavelength, H is the transition matrix between the double difference observations and the state quantity, Δx (t+1, t) is the position increment of the IMU from epoch t to epoch t+1, and λ is the GNSS carrier wavelength.
In this embodiment, the cycle slip repair is implemented as follows:
first, the cycle slip size is estimated, specifically:
when the carrier is in a static state and the GNSS carrier phase is subject to cycle slip, the estimated cycle slip size CS is:
when the carrier is not in a static state and the GNSS carrier phase is subject to cycle slip, the estimated cycle slip size CS is:
Wherein E (-) represents a weighted average, i.e. the cycle slip size is the weighted average of the three-difference observation value divided by the carrier wavelength when the carrier is in a static state, and the cycle slip size is the weighted average of the difference value of the three-difference observation value and the product of the IMU position increment and the transfer matrix divided by the carrier wavelength when the carrier is not in a static state;
and then, repairing the integer ambiguity of the GNSS carrier phase based on the estimated cycle slip size to obtain the correct integer ambiguity after cycle slip, namely obtaining the double-difference carrier phase observation value after cycle slip repair, wherein the specific implementation process of repairing the integer ambiguity of the GNSS carrier phase based on the estimated cycle slip size is a conventional technical means in the field, so that the embodiment does not need to be repeated.
In this embodiment, whether the GNSS/IMU combined system is in a static state is determined based on the IMU zero-speed update (ZPUT), and the implementation process is a conventional technical means in the art, so the description of this embodiment is not repeated.
In the implementation process, GNSS carrier phase signals in the GNSS/IMU tight combination system are acquired through the base station and the GNSS receiver, and the acquired data types comprise single-frequency data, multi-frequency data and different station spacing data.
And 2, constructing a Kalman filter by taking a double-difference pseudo-range observation value of the GNSS/IMU tightly combined navigation system and a double-difference carrier phase observation value after cycle slip detection and repair as observation values and taking a position error, a speed error, an attitude error, an accelerometer drift error, a gyroscope drift error and a single-difference carrier offset of each frequency of each GNSS system as state quantities. Specifically:
the state quantity is:
Wherein x nav is the state quantity, δr is the position error of the navigation solution, δv is the velocity error of the navigation solution, δψ is the attitude error of the navigation solution, b a is the accelerometer drift error, b g is the gyroscope drift error, For each system of GNSS, the single-difference carrier offset of each frequency is a state quantity, r represents a mobile station, b represents a base station, s represents a satellite number, and i represents a frequency number;
The state equation and the observation equation of the GNSS/IMU tightly combined navigation system in the filtering process are as follows:
Xt+1＝FtXt+GtWt
Z＝HX+e
Wherein, X t+1、Xt is the state value of the state quantity X nav at epoch t+1 and epoch t, F t is the state transition matrix updated by the state quantity X nav along with time, W t is zero-mean white gaussian noise, G t is the system dynamic noise matrix, Z is the double-difference observables, H is the transition matrix between the double-difference observables and the state quantity X nav, and e is the observation noise. The observed quantity Z is obtained by double-difference carrier phase observation value And double-difference pseudo-range observation valueComposition, i.e
And step 3, filtering based on a Kalman filter, and performing feedback correction on the GNSS/IMU tightly combined navigation system by using the state quantity obtained by filtering to obtain the accurate positioning result of the carrier.
In the specific implementation process, the optimal estimated value of each state in the state quantity can be obtained and compensated on the basis of the Kalman filter, and finally, the navigation positioning result after the GNSS/IMU tightly combined navigation system is compensated is output, namely the high-precision navigation result of the carrier. As for the compensation of the navigation positioning result of the GNSS/IMU integrated navigation system based on the optimal estimation value of each state in the state quantity, the method is a conventional technical means in the art, and will not be described in detail in this embodiment.
Example 2
Based on the navigation method in embodiment 1, this embodiment discloses a navigation device based on GNSS and IMU. Referring to fig. 3, the navigation device includes a GNSS, an IMU and a navigation calibration unit, where the GNSS and the IMU form a GNSS/IMU integrated navigation system, and the navigation calibration unit is configured to execute part or all of the steps of the navigation method in embodiment 1, so as to implement high-precision positioning of the carrier.
In a specific implementation, the navigation correction unit includes:
The carrier phase acquisition module is used for acquiring double-difference observables of the GNSS carrier phase in the GNSS/IMU tight combination system;
The three-difference observation calculation module is used for subtracting the double-difference observables of two adjacent epoch moments to obtain a three-difference observation value of the GNSS carrier phase;
the cycle slip detection module is used for judging whether the GNSS carrier phase is cycle slip or not according to the three-difference observation value and/or the position increment of the IMU;
The cycle slip estimation module is used for estimating the cycle slip size when the GNSS carrier phase is subjected to cycle slip;
the cycle slip repair module is used for repairing the GNSS carrier phase according to the estimated cycle slip size;
The Kalman filter is used for carrying out Kalman filtering on the GNSS/IMU tight combination system by taking a double-difference pseudo-range observation value and a cycle slip detection and repair double-difference carrier phase observation value of the GNSS/IMU tight combination navigation system as observables and taking a position error, a speed error, an attitude error, an accelerometer drift error, a gyroscope drift error and a single-difference carrier offset of each frequency of each GNSS system as state quantities;
And the positioning correction module is used for carrying out feedback correction on the GNSS/IMU tightly combined navigation system by using the state quantity obtained by Kalman filtering to obtain and output the accurate positioning result of the carrier.
In this embodiment, the specific working processes and working principles of the carrier phase acquisition module, the three-difference observation calculation module, the cycle slip detection module, the cycle slip estimation module, the cycle slip repair module, the kalman filter and the positioning correction module are the same as those of the method in embodiment 1, so that the description thereof will not be repeated in this embodiment.
Example 3
Fig. 4 shows a terminal device disclosed in this embodiment, which includes a transmitter, a receiver, a memory, and a processor. Wherein the transmitter is configured to transmit instructions and data, the receiver is configured to receive instructions and data, the memory is configured to store computer-executable instructions, and the processor is configured to execute the computer-executable instructions stored in the memory to implement some or all of the steps performed by the navigation method in embodiment 1. The specific implementation process is the same as that of the navigation method in the foregoing embodiment 1.
It should be noted that the memory may be separate or integrated with the processor. When the memory is provided separately, the terminal device further comprises a bus for connecting the memory and the processor.
In a specific application process, the terminal equipment is equipment such as an unmanned vehicle, an unmanned plane, an unmanned equipment or a mobile robot which needs to be navigated.
Example 4
The present embodiment discloses a computer-readable storage medium, in which computer-executable instructions are stored, which when executed by a processor, implement some or all of the steps performed by the navigation method in embodiment 1 described above.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (10)
1. The navigation method based on the GNSS and the IMU is characterized in that a GNSS/IMU tightly combined navigation system is carried on a carrier, and the navigation method comprises the following steps:
Step 1, performing cycle slip detection and repair on GNSS carrier phases based on an IMU and a carrier phase three-difference model;
Step 2, a double-difference pseudo-range observation value and a cycle slip detection and repair double-difference carrier phase observation value of the GNSS/IMU tightly combined navigation system are taken as observation values, and a position error, a speed error, an attitude error, an accelerometer drift error, a gyroscope drift error and a single-difference carrier offset of each frequency of each GNSS system are taken as state quantities to construct a Kalman filter;
And step 3, filtering based on the Kalman filter, and carrying out feedback correction on the GNSS/IMU integrated navigation system by using the state quantity obtained by filtering to obtain the accurate positioning result of the carrier.
2. The navigation method based on GNSS and IMU according to claim 1, wherein in step 1, the process of cycle slip detection of GNSS carrier phases is:
Judging whether the carrier is in a static state or not:
if yes, judging whether cycle slip occurs in the GNSS carrier phase or not based on the three-difference observation value of the GNSS carrier phase;
Otherwise, judging whether the GNSS carrier phase is subject to cycle slip or not based on the three-difference observed value of the GNSS carrier phase and the position increment of the IMU.
3. The navigation method based on GNSS and IMU according to claim 2, wherein if the carrier is in a stationary state, determining if Δz A t+1, t > λ2 is true, if so, determining that the GNSS carrier phase is cycle-shifted, otherwise determining that the GNSS carrier phase is not cycle-shifted;
Wherein, deltaZ A t+1, t is the three-difference observed value of the GNSS carrier phase between the epoch t+1 time and the epoch t time, and lambda is the GNSS carrier wavelength.
4. The navigation method based on GNSS and IMU according to claim 2, wherein if the carrier is not in a stationary state, determining if Δz A t+1, t-hΔxt+1, t > λ2 are true, if so, determining that the GNSS carrier phase is cycle-shifted, otherwise determining that the GNSS carrier phase is not cycle-shifted;
Wherein DeltaZ A t+1, t is a three-difference observed value of the GNSS carrier phase between epoch t+1 and epoch t, H is a transition matrix between the two-difference observed value and the state quantity, deltaXt+1, t is a position increment of the IMU from epoch t to epoch t+1, and lambda is the GNSS carrier wavelength.
5. The navigation method based on GNSS and IMU according to claim 2, 3 or 4, wherein in step 1, when the carrier is in a static state and the GNSS carrier phase is cycle-hopped, the process of performing cycle-hopped repair on the dual-difference carrier phase observation is:
First, the cycle slip size is estimated as:
Wherein CS is cycle slip size, E.represents weighted average;
and then, repairing the integer ambiguity of the GNSS carrier phase based on the estimated cycle slip size to obtain the correct integer ambiguity after cycle slip, and obtaining the double-difference carrier phase observation value after cycle slip repair.
6. The navigation method according to claim 2,3 or 4, wherein in step 1, when the carrier is not in a static state and the GNSS carrier phase is subject to cycle slip, the process of performing cycle slip repair on the dual differential carrier phase observation is:
First, the cycle slip size is estimated as:
Wherein CS is cycle slip size, E.represents weighted average;
and then, repairing the integer ambiguity of the GNSS carrier phase based on the estimated cycle slip size to obtain the correct integer ambiguity after cycle slip, and obtaining the double-difference carrier phase observation value after cycle slip repair.
7. The navigation method according to claim 2,3 or 4, wherein determining whether the GNSS/IMU combined system is in a stationary state is based on an IMU zero-speed update.
8. The navigation method based on GNSS and IMU according to claim 1 or 2 or 3 or 4, wherein in step 2, the state quantity is:
Wherein x nav is the state quantity, δr is the position error of the navigation solution, δv is the velocity error of the navigation solution, δψ is the attitude error of the navigation solution, b a is the accelerometer drift error, b g is the gyroscope drift error, For each system of GNSS, the single-difference carrier offset of each frequency is a state quantity, r represents a mobile station, b represents a base station, s represents a satellite number, and i represents a frequency number;
The state equation and the observation equation of the GNSS/IMU tightly combined navigation system in the filtering process are as follows:
Xt+1＝FtXt+GtWt
Z＝HX+e
Wherein, X t+1、Xt is the state value of the state quantity X nav at epoch t+1 and epoch t, F t is the state transition matrix updated by the state quantity X nav along with time, W t is zero-mean white gaussian noise, G t is the system dynamic noise matrix, Z is the observed quantity, H is the transition matrix between the double-difference observed value and the state quantity X nav, and e is the observed noise;
The observed quantity Z is obtained by double-difference carrier phase observation value And double-difference pseudo-range observation valueComposition, i.e
9. A navigation device based on GNSS and IMU, comprising:
GNSS；
IMU；
Navigation correction unit for performing navigation positioning of the carrier using the method according to any of claims 1 to 8.
10. The terminal equipment is characterized by comprising an unmanned vehicle, an unmanned plane, an unmanned equipment or a mobile robot, wherein the terminal equipment is provided with:
A memory for storing a program;
A processor for executing the program stored in the memory, the processor being adapted to perform part or all of the steps of the method according to any one of claims 1 to 8 when the program is executed.
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| CN202211701006.2A CN118258384A (en) | 2022-12-28 | 2022-12-28 | Navigation method and device based on GNSS and IMU, and terminal equipment |
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| CN202211701006.2A CN118258384A (en) | 2022-12-28 | 2022-12-28 | Navigation method and device based on GNSS and IMU, and terminal equipment |
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