TW498170B - Self-contained/interruption-free positioning method and system thereof - Google Patents

Abstract

A self-contained/interruption-free earth's surface positioning method and system, carried by a user on the earth's surface, includes an inertial measurement unit, a north finder, a velocity producer, an altitude measurement device, a GPS (global positioning system) receiver, a data link, a navigation processor, a wireless communication device, and a display device and map database. Output signals of the inertial measurement unit, the velocity producer, altitude measurement device, the GPS receiver, the data link, and the north finder are processed to obtain highly accurate position measurements of the user. The user's position information can be exchanged with other users through the wireless communication device, and the location and surrounding information can be displayed on the display device by accessing a map database with the user position information.

Description

498170 V. Description of the invention (1) ^ '-— Related patent applications: This application is a formal application, and one of its related pre-applications is: 60/172, 387, and the application date is: December 1999 On the 17th, the second application number of the pre-application of Erguan was: 6 0/2 35, 9 5 i, and the application was submitted on September 26, 2000. The invention is about a positioning method and system, more specifically, an autonomous non-disruptive positioning method and system applied to the surface of the earth. This article has a flexible operation, which can be applied to handheld and earth surface carriers, knives, land, and underwater carriers to determine the user's location information on the ground. With the same essence, most of the carrier navigators rely on the Global Positioning System (GPS). Gps is a dual-use, health-based, hotline electric navigation system that is owned by the United States Department of Defense, is deployed and privately available to commercial users worldwide, and is used to provide accurate positioning and positioning. Unfortunately, G PS is prone to being blocked and obscured, especially at \ 5. As a result, GPS receivers often cannot provide continuous white space t ', especially in urban areas. It is important to obtain continuous location information in urban areas for commercial and scientific uses on the surface of the earth. ^ Compensatory navigation system (INS, Innertia 1 N avigati ο η st em does not need to receive any external high-frequency signals to output continuous positioning confidence oil. However, the cost, size, power consumption, and position of traditional inertial navigation systems The drift characteristics make it unsuitable for commercial use on the surface of the earth. Therefore, it is necessary to develop a kind of uninterrupted operation of the commercial surface of the earth.

498170 V. Description of the invention (2) Cost, volume, power consumption, and drift are suitable positioning systems, which can be used in areas where GP S signals cannot be obtained, such as tunnels, forests and urban areas, and high-blocking environments. Summary of the invention The main purpose of the autonomous \ non-disruptive positioning method and system of the present invention is to fuse information from inertial measurement devices (IMU, Inertia 1 M easurement Unit), speed generators, north seekers, and height measurement devices, Use hardware and software modules to obtain high-precision autonomous and non-disruptive navigation solutions to determine high-precision location information for users on the surface of the earth, including personal, aerial, land, and underwater carriers. Another purpose of the autonomous \ non-disruptive positioning method and system according to the present invention is to determine the high-precision location information of the user on the surface of the earth, such as the accuracy of movement distances better than one percent when GPS is not relied upon, among which inertial measurement The output signals of the device, speed generator, and north seeker are processed to obtain high-precision position information of the user on the surface of the earth. Another purpose of the autonomous \ non-disruptive positioning method and system according to the present invention is to determine the high-precision location information of a user on the surface of the earth, which can exchange carrier location information with other users through a wireless communication device. Another purpose of the autonomous \ non-disruptive positioning method and system according to the present invention is to determine the high-precision location information of the user on the surface of the earth, which can access the map database with the location information and provide the location and surrounding environment information by means of the display device . Another purpose of the autonomous \ non-disruptive positioning method and system according to the present invention is to provide multiple different uses, including personal handheld, aerial, land

Page 6 498170 Five 'invention description (3) Ground and railway, underwater navigation, communication, emergency rescue, oil exploration, mining, and more. Another purpose of the autonomous \ non-disruptive positioning method and system according to the present invention is to provide the following functions: (a) Autonomous navigation. (b) The accuracy of autonomous positioning is better than one-hundredth of the movement distance without GPS high-frequency signals. (c) Low cost, low power consumption, and light weight. (d) Unique high-performance Kalman filter. By merging information from the micronucleus I MU (cor emocr oTM IMU), north seeker, velocity generator, and height measuring device, it removes the inherent in free inertial positioning solutions obtained from the low-cost micronucleus IMU Drift. (e) Smoothing of the output noise of the north seeker, speed generator, and altitude measuring device. (f) Innovative state variable selection and Kalman filter (Kalman F i 1 t e r) measurement design, including position correction, relative position correction, heading correction, altitude correction, and zero speed correction. (g) Autonomous multi-carrier stop test and related zero speed correction. The carrier does not require zero speed correction, but if the carrier stops itself, the system can autonomously take advantage of this benefit. (h) Advanced IMU --- based on MEMS (Microelectromechanical

Systems) and ASIC (Application Specific Integrated Circuit) micro-core I M U: miniaturized length, width, height and light weight; high performance and low cost; low power consumption; special improvements in reliability.

Page 7 498170 V. Description of the invention (4) (i) The map database and software module use the current position solution to obtain the surrounding environment information. (j) The display device and the software module display the user position and the surrounding environment information. In order to achieve the above purpose, the present invention provides an autonomous \ non-disruptive positioning method and system, in which an autonomous \ non-disruptive positioning module based on a main IMU is used to sensitive user movement to generate user autonomous \ non-disruptive positioning data ; A position assistant is combined to provide interruptible, intermittent, or continuous positioning data to assist the autonomous \ non-disruptive positioning module to improve the user's autonomous \ non-disruptive positioning data; and implant a wireless communication device To exchange location information with other users; and further add a display device to provide location and surrounding environment information by accessing a map database with improved user autonomy \ non-disruptive positioning information. According to the present invention, the autonomous \ non-disruptive positioning system can receive, but does not rely on GPS signals and DGPS (Differential GPS) signals to achieve a South-accurate positioning solution. Without the GPSDGPS signal, the system still provides high-precision positioning solutions, such as moving distances with accuracy better than one percent. For commercial navigation applications on the surface of the earth, this is a suitable positioning system that can be used in areas where GPS signals are not available, such as tunnels, forests, and urban areas, as well as high-blocking environments. Explanation of drawing numbers: 1-Inertial measurement component 3-Navigation processor 5-Map database 2-North finder 4-Wireless communication device 6-Speed generator

498170 V. Description of the invention (5) 7-Display device 9-Height measurement device 31-INS calculation module 3 3-Velocity processing module 3 5-Kalman filter 3 7-Dynamic blur solution module 62-Acoustic speed generator 6 4 -History meter interface 8-Positioning assistance device 10-Autonomous and non-disruptive positioning module 3 2-Magnetic sensor processing module 3 4-Height measurement measurement processing module 3 6-Satellite periodic sliding detection module 61-High-frequency (RF) speed generation 63-Laser speed generator 6 5-Flowmeter interface 3 1 1-Sensor compensation module 3 1 2-Inertial navigation algorithm module Block misalignment calculation module Matrix block paste Mould estimation fuzzy solution module 321-3 2 3- 3 3 2 -3 3 3 -3 5 2 -3 5 3 -371-3 7 3 -3 7 5 -3 7 6-Hard iron heading scale relative measurement status Position meter and time-varying estimation mode wide track mode two search difference wide track technology 3 7 8 estimator library 3 1 2 1-attitude integration module 3 1 2 3-position module 3 5 3 2-vertical filter 8 B-data Key 3 2 2-Soft iron compensation module 3 3 1-Conversion module error compensation module 3 5 1-Motion test module into module 3 5 4-GPS accuracy monitor block 3 7 2-Fuzzy area determination module 3 7 4-Position calculation module module 3 7 7-L1 and L2 fuzzy solution module 3 7 9-Corresponding weight library 3 1 2 2-Speed integration module 3 5 3 1-Horizontal filter 8A-GPS receiver C2-First circuit board

Page 9 498170 V. Description of the invention (6) C4-Second circuit board C5-Angular rate generator C7-Third circuit board C9-Control circuit board C6-Angular and speed increment generator C10-Acceleration output C15-Thermal sensitive generator C 1 8-Temperature digitizer C 2 0-Heater C 2 1-X-axis vibration type angular rate detection unit C22-Y-axis accelerometer C23-First front-end circuit C24-First thermal sensor Generating unit C 25-First heater C30-Thermal processor C42-X-axis accelerometer C 4 1-Y-axis vibration type angular rate detection unit C43-Second front-end circuit C44-Second heat-sensitive generating unit C45-Second heating C61-Angle amplifier circuit C6 2-Angle integration circuit C6 3-Angle analog / digital converter C65-Input / output interface circuit C66-Oscillator C67-Acceleration amplifier circuit C68-Acceleration integration circuit C 6 9-Speed analog / digital Converter C 7 1-Z-axis vibration-type angular rate detection unit C72-Z-axis accelerometer C73-Third front-end circuit C74-Third heat-sensitive generating unit C 75-Third heater C 8 0-Position and attitude processor C 8 1-Attitude and Heading Module C 8 2-Position, Speed, Attitude and Heading Module Block C9 0-External sensor C91-DSP chipset C 9 2-ASIC chip Cl 8 1-Additional amplifier circuit C 182-Analog / digital converter C 183-Input / output interface circuit 498170 V. Description of the invention (7) C231 , C431, C731-Impedance conversion amplifier circuit C232, C432, C732 ~ High-pass filter circuit C301-First amplifier circuit C302-Second amplifier C3 0 3-Digital / analog converter C3 04-Analog dual amplifier circuit C305-Input / Output interface circuit C3〇6_Temperature control digital word converter C 6 2 0-Angle integrator C 6 3 0-Acceleration points ig C 6 4 0-Reset device C 6 6 0, C 6 6 5-Amplifier Piece C 6 5 0 —Angle and speed incremental measuring device C 8 1 1 -Conical error compensation module c 8 1 2 -Angular rate compensation module C 8 1 3 -Acceleration compensation module C 8 1 8 -Vertical damping calculation module C 8 1 4-Horizontal leveling speed calculation module C 8 1 5-Alignment rotation vector calculation module C 8 1 6-Direction cosine Chen calculation module C817-Safety and heading angle extraction module C 8 1 9-Northbound damping calculation module c 9 1 1-Thermal control calculation module C912-Vibration processing module C921-Angle signal loop circuit C922-Vibration control Control circuit C923-Thermal control circuit C 9 2 5-Oscillator C 8 1 1 0-Eastbound damping calculation module C8 2 0 1-Cone error compensation module C8 2 02-Angular rate compensation module C 8 2 0 3-Acceleration compensation mode C 8 2 0 8-Position speed update module C 8 2 0 4 Horizontal leveling speed calculation module C 8 2 0 5-Alignment rotation vector calculation module C 8 2 0 6 ~ Direction cosine Chen calculation module C 8 2 0 7-Earth And carrier rate calculation module

Page 11 498170 V. Description of the invention (8) C8209- Attitude and heading angle extraction plate C9121- Discrete fast Fourier transform module C9 1 22- Frequency and amplitude data storage array module C9 1 23- Maximum value detection logic module C9124- Q Value analysis and selection logic module C9125- PLL C92 1 1-. Voltage amplifier circuit C921 1- Voltage amplifier circuit C9212- Amplifier and adder circuit C921 3- Demodulator C9222- High-pass filter, waver circuit C 9 2 2 1-Amplifier and Adder Circuit C 9 2 2 3-Demodulator Circuit C9224- Analog / Digital Converter C 9 2 2 5-Low Pass Filter C9226- Digital Analog Converter 丨 C9227- Amplifier C9231- First Amplifier Circuit C9232- Analog / Digital Converter C9233- Digital Analog Converter C9234- Detailed Description of the Preferred Scheme of the Second Amplifier Circuit The present invention provides an autonomous \ non-disruptive positioning system for users on the surface of the earth It contains an autonomous IMU-based non-disruptive positioning module based on the main IMU, which is used to sensitive user movements to generate user-autonomous non-disruptive. Positioning data; a position assistant is included to provide interruptible 'intermittent, or continuous Positioning data to assist Baizhu \ non-disruptive positioning module to improve user autonomy \ non-disruptive positioning data; implant a wireless communication device to exchange location information with other users; and add a display device step-by-step To provide location and surrounding environment information by accessing the map database with user location information 0

Page 12 498170 V. Description of the invention (9) The user can be an individual, or air, land, or underwater carrier. Autonomous performance means that the system of the present invention can function without receiving external high-frequency signals. Non-disruptive performance means that the system of the present invention outputs position data at a very high data rate, such as 100 Hz. Furthermore, the surface of the earth includes land, water, and the atmosphere. It is worth mentioning that the rapid development of MEMS technology has made it possible to manufacture gyroscopes and accelerometers with low cost, light weight, small size, and low power consumption. MEMS means micro mechatronic system, or micro integrated electromechanical device. The ME MS device involves the use of IC integrated circuit technology to generate controllable mechanical and moving structures. MEMS encompasses the concepts of microelectronics and micromachining integration. Examples of successful MEMS devices are inkjet print heads, automotive airbag open accelerometers, and miniature robots. Microelectronics technology, making electronic circuits on silicon wafers, is a very mature technology. Micromachining uses process technology developed by the integrated circuit industry to make tiny sensors and actuators on silicon wafers. In addition to the reduction in the size of the sensor by several orders of magnitude, integrated circuits can be added to the same silicon chip to produce the entire system on a single silicon chip. This device not only revolutionized traditional military and civilian products, but also created many new commercial applications that would not have been possible without tiny and inexpensive inertial sensors. Compared with traditional inertial devices, MEMS inertial devices provide huge improvements in cost, volume, and reliability for guidance, navigation, and control systems. The world's smallest ΙΙΙΓ is based on a combination of solid-state microelectromechanical systems (MEMS) and user integrated circuits (ASICs). Microkernel I M U is a completely autonomous

Page 13 498170 V. Description of the invention (10) Motion sensitive components. It provides three-axis angular increments, speed increments, and synchronized time references, and is able to withstand high vibrations and accelerations. The micro-core I MU opens up a full range of commercial application areas that traditional I M U cannot apply. They include terrestrial navigation, automobiles, personal navigators, robots, aerial and marine vehicles, unmanned vehicles, different communications, instrumentation, guidance, navigation, and control applications. The micronuclear IMU is only one cubic inch in size and can be used commercially on the surface of the earth, including handheld, aerial, terrestrial, and underwater carriers. Micro-kernel I M U is preferred in the present invention, but the present invention is not limited to micro-kernel 3 Any I MU with such performance indicators can be applied to the system of the present invention

IMU system. As shown in the first figure, the autonomous \ non-disruptive positioning system for users on the surface of the earth includes an autonomous \ non-disruptive positioning module based on the main IMU 10, positioning assistance device 8, wireless communication device 4, map database 5, and display Device Ί. Adopting the autonomous \ non-disruptive positioning module 10 based on the main IMU, through the motion measurement of IMU sensitive users, and generating user's autonomous \ non-disruptive positioning data. Use positioning assistance device 8 to provide interruptible, intermittent, or continuous positioning data to assist autonomous \ non-disruptive positioning module to achieve the purpose of improving user autonomous \ non-disruptive positioning data; use wireless communication device 4, In order to exchange improved user autonomy \ non-disruptive positioning location information with other users; Use map database 5 to provide map data,

Page 14 498170 V. Description of the invention (11) Household autonomous \ non-disruptive positioning information accesses the map database to obtain location and surrounding environment information. The display device 7 is used to display improved user autonomy \ non-disruptive positioning data using the surrounding environment information. If the positioning assistance device 8 can continuously output positioning data, it can of course be used in the present invention. As shown in the second figure, the positioning assistance device 8 is preferably a high-frequency positioning system based on the wireless communication device 4. If the pure inertial navigation system INS method is used for MEMS-based IMUs, including micro-core IMUs to generate autonomous \ non-disruptive positioning data,

Non-disruptive positioning data drift, autonomous \ non-disruptive positioning data cannot be applied for a long time. In the preferred system of the present invention, an inertial navigation system INS is established based on the microkernel I M U, which is the core of the autonomous \ non-disruptive positioning module 10 based on the main IMU. In order to compensate the drift error of the INS, multiple navigation sensors are integrated in the main autonomous \ non-disruptive positioning module 10, as shown in the fifth figure, including: Inertial measurement component 1 to measure user motion, corresponding to user motion Digital angular and speed incremental signals. Northfinder 2 to generate the heading measurement for the user. The speed generator 6 is used to generate the speed data of the user in the body system relative to the ground.

An altitude measuring device 9 to generate a user's altitude measurement relative to the average sea level. Navigation processor 3, connected to inertial measurement unit 1, north seeker 2, speed generator 6, altitude measurement device 9, and positioning aid device 8 to receive

Page 15 498170 V. Description of the invention (12) Digital angle increment and speed increment signals, heading measurement, speed data in the body system, and interrupted or intermittent position data from the positioning aid device 8, And perform the following tasks: Generate IMU position, velocity, and attitude m using digital angular and velocity incremental data, generate optimal error estimates for IMU position, velocity, and attitude, which are fed back to the inertial navigation processing module to correct the IMU Position, velocity, and attitude data errors to output modified I MU position, velocity, and attitude data as user autonomous \ non-disruptive positioning data, or improved user autonomous \ non-disruptive positioning data, When the auxiliary device 8 is interrupted, or intermittent, when positioning data; the north finder 2 is used to measure the user's heading. The speed generator 6 is used to measure the speed of the user relative to the ground. The altitude measuring device 9 is used to generate a user's altitude measurement relative to the mean sea level (MSL). An autonomous zero-speed correction method is used to autonomously compensate the I N S error. Based on the established I N S error model and other sensor error models, the speed sensor and zero speed correction are used to suppress the I N S error growth. A combined Kalman filter 35 is constructed in the navigation processor 3 to estimate and compensate the I N S error and the sensor error. The speed generator 6 is used to generate a user's speed measurement relative to the ground or water. As shown in the sixth figure, the preferred solution of the velocity generator 6 is based on the Doppler effect principle, and includes: a high-frequency (RF) velocity generator 61 including a radar; an acoustic velocity generator 62 including a sonar, and

Page 16 498170 V. Description of the invention (13) Laser speed generator 63, including lidar. Based on the principle of the Doppler effect, the velocity generator 6 can generate a user's velocity measurement with respect to the ground through a sensitive Doppler frequency. The Doppler effect is that when a wave emitted from the velocity generator 6 is reflected by a moving object, a frequency offset is generated. In the case of the present invention, the Doppler frequency shift is generated by the user's motion relative to the ground, and radio waves, lasers, or sound waves are reflected by the ground. If the user's distance from the ground is shrinking, the wave is compressed. Their wavelengths shrink and their frequencies increase. If the distance increases, the effect is reversed. The Doppler shift of the wave reflected from the ground can be calculated as Λ = 2

VrcosL ~ λ ~ where A = ground echo Doppler shift, Hertz & = user speed, msec 1 = angle between speed 4 and beam sight A = emission wavelength as shown in the sixth figure, speed generator 6 It further includes a history meter interface 64 so that the speed generator 6 can input the history meter measurement from the history meter mounted on the carrier, when the system of the present invention is applied to a land vehicle. The pedometer measurement can be converted into a user's relative speed measurement relative to the ground. As shown in the sixth figure, the speed generator 6 further includes a flowmeter interface 65, so that the speed generator 6 can input the speed measurement of relative water from the flowmeter mounted on the carrier. Time.

Page 17 498170 V. Description of the invention (14) As shown in the fifth figure, the positioning assistance device 8 may be a GPS receiver 8A to receive an interruptible GPS high-frequency (RF) signal to generate a GPS rough measurement pseudorange and Pseudorange rate, or the user's GPS position and speed data to the navigation processor 3, and the GPS status indication indicates whether the GPS coarse measurement pseudorange and pseudorange rate, or whether the user's GPS position and speed are available. If the GPS signal can be obtained continuously, continuous G PS coarse measurement pseudorange and pseudorange rate, or GPS position and speed, can be incorporated into the present invention. As shown in the sixth figure, the preferred real-time software running on the navigation processor 3 further includes: (4.1) an INS calculation module 31, which generates inertial positioning measurements using digital angular and velocity incremental signals from IMU1 , Including IMU position, speed, and safety data, (4 · 2) — magnetic sensor processing module 3 2 to generate heading angle; (4 · 3) — speed processing module 3 3 for Kalman filter 3 5 Generate a relative position error measurement; (4. 4) an altitude measurement measurement processing module 34, using the altitude measurement to form an average altitude data type; and (4.5.)-Integrated Kalman filter 35 to pass through The calculation method of Kalman filter estimates the inertial positioning measurement error to correct the inertial positioning measurement error. I MU 1 and the related I NS calculation module 31 are the core of the navigator of the present invention. The INS calculation module 31 further includes a sensor compensation module 3 1 1 to correct the errors of the digital angular increment and velocity increment signals, which are proportional to the user's motion; and

Page 18 498170 V. Description of the invention (15) An inertial navigation algorithm module 3 2 2 uses the compensated digital angular increment and velocity increment signals to calculate the I N S position, velocity, and attitude. Figure 5 shows the inertial navigation algorithm module 3 2 2. Although I NS provides an autonomous / non-disruptive, non-radiation, deterministic, three-dimensional navigation means, short-term accurate position information, due to uncompensated gyro and accelerometer errors, especially the low-precision strapdown INS system, its performance Unbounded position error. External auxiliary information must be provided to improve the long-term accuracy of the system. In the present invention, multiple navigation sensors 1, 2, 6, and 9 are used to assist the core I NS. Northfinder 2 is used for heading update. Speed generator 6 and zero speed correction are used to suppress the increase in I N S error. Based on the established I N S error model and other device error models, a combined Kalman filter 35 is constructed to estimate, calculate and compensate the I N S error and sensor error. The combined system of the present invention is used to determine a position on the surface of the earth of a user. As shown in the fifth block diagram of the present invention, one of the key technologies is to apply the automatic zero speed correction technology to the system algorithm when GPS signals cannot be obtained, which greatly reduces the accumulated navigation error. The inertial navigation system I N S is a position estimation system, and its position error increases with time in the pattern shown in the third figure (A). Zero speed correction technology uses additional zero speed information to reset the speed measurement of the navigator when the user stops. The periodic zero-speed correction reset results in an error mode as shown in the third figure (B). With zero speed correction reset, as well as speed assistance, extended error estimation and compensation, the increase in inertial navigation error is greatly reduced. Its navigation error pattern over time is shown by the third line (B). The invention effectively compensates for errors and maintains navigation accuracy better than one hundredth of a movement distance.

Page 19 498170 V. Description of the invention (16) The north finder 2 is preferably implemented as a magnetic sensor, such as a magnetometer and a flux valve, which are sensitive to the earth's magnetic field to measure the user's navigation angle. Figure 11 is a block diagram illustrating the magnetic sensor and its processing module 3 2. The magnetic sensor detects the amplitude and direction of the earth's magnetic field and converts it into electrical signal information for obtaining magnetic north. In order to obtain true magnetic north, the magnetic field measurement of the earth must be compensated with the measured magnetic field strength, the soft iron and hard iron transform arrays. The ferrous metal on the carrier will magnetize over time, misleading the readings of the magnetic compass. In addition, some devices can cause soft iron distortion. Soft iron can mislead or amplify existing magnetic fields, making calibration particularly difficult. As the twelfth figure is a block diagram, describing the speed generator processing module 33 ° As shown in the seventh figure, the I NS processing module 3 1 further includes a sensor compensation module 3 1 1 and an inertial navigation algorithm module 3 1 2. Because the installation of the gyro and accelerometer is not exactly in three mutually perpendicular directions, the I MU data must be corrected before being used in the inertial navigation algorithm module 3 1 2. For example, the MEM S I MU is currently a low-precision micromechanical silicon gyroscope and accelerometer assembly. Because MEMS sensors are sensitive to temperature and acceleration, a special set of modules was constructed in the design of the sensor compensation module. The simplified error model of the MEMS gyroscope is expressed as: ^ drft ^ misalign ^ nonorth ^ scale ^ g ^ random (^)

Page 20 498170 V. Description of the invention (17) This MEM SIMU error compensation model is explained as follows. (1) Stability error%, also expressed as drift. The time constant is large for the MEMS gyroscope stability error, and this effect is modeled as a constant bias. (2) Misalignment error '_ > · Misalignment error is the deviation between the actual direction of the sensitive axis of the device and the specified direction of the axis. This is a constant angle error, which is usually made small by accurate assembly and calibration techniques during installation. (3) Non-vertical error S nonorth. This error refers to the inaccuracy of the MEM SIMU itself. I M U consists of three micro-gyros, which should be installed in three ideal perpendicular axes. When the input axis of one gyro is inclined to a plane composed of the input axes of the other two gyros, a non-vertical error occurs. The non-vertical gyro detects angular velocity components with respect to the other two axes. (4) Palpitation of scale factor error. This error is calculated as a percentage of the true angular rate detected by the MEMS gyroscope. The scale factor error produces an error proportional to the measured true angular rate on the measured angular velocity amplitude. Scale factor errors can produce significant navigation errors at high angular rates. (5) Gravity-sensitive error \. The change in output of the gyroscope output due to the effect of acceleration on the device is called gravity-sensitive error. This error produces a velocity bias error proportional to the magnitude of the specific force during carrier maneuver. Specific force is equal to inertial acceleration minus gravity acceleration. (6) Random walk heart · MEMS gyroscope is very noisy. In the same inertial navigation, it acts as a sensitive angular rate integrator. Actual sensing

Page 21 498170 V. Description of the invention (18) The noise in the output of the gyro is integrated to produce a smoother signal, which randomly walks within a specific error range. The angular random walk is estimated by the compensation process. (7) Temperature-sensitive error. The ME MS gyro is sensitive to changes in temperature. It can even be regarded as a good temperature sensor. The nose method in I N S must remove errors due to temperature. Therefore, in the I M U error processing, we must provide a temperature term, which can generate error data according to temperature changes in the same operation. Similarly, the error compensation of the MEM accelerometer is expressed as: + ^ misalign + ^ nonorth + ^ scale + + Vrandom + (T) order derivative The definition of the error term of the accelerometer is similar to that of the MEM gyroscope. In practice, the change in IMU temperature Can be approximated by the procedure Γ = -1 (Γ-Γ, σ /)

Lc

m-rQ where T is the IMU temperature, TO is the initial temperature, tc is the time constant, and Tbal is the IMU equilibrium temperature. The parameters tc and Tbal are determined by the heat transfer characteristics of the IMU and the ambient temperature, which can be obtained by calibration. The error caused by temperature can be expressed as st ^ Kt (T-Tnom)

Page 22 498170 V. Description of the invention (19) where Tnom is the nominal temperature when correcting the IMU, and Kt is the temperature error coefficient. The fourth figure shows typical temperature-induced MEMS SIMU gyroscope errors. As shown in the tenth figure, the inertial navigation algorithm module 3 1 2 further includes: an attitude integration module 3 1 2 1 for integrating the angular increment into attitude data; a speed integration module 3 1 2 2 for using the attitude data The measured speed increase is converted into a suitable navigation coordinate system, wherein the converted speed increase is integrated into the speed data; and a position module 3 1 2 3 is used to integrate the speed data of the navigation system into position and data. As shown in the eleventh figure, the magnetic sensor processing module 32 for processing the heading angle further includes: a hard iron compensation module 3 2 1 for receiving a digital earth magnetic field vector and compensating the hard iron effect in the earth magnetic field vector; a The soft iron compensation module 3 2 2 is used to compensate the soft iron effect in the earth magnetic field vector; and a heading calculation module 3 2 3 is used to receive the compensated earth magnetic field vector and receive the pitch from the inertial navigation algorithm module 3 1 2 And roll angle, and calculate heading data. As shown in the twelfth figure, the speed generator processing module 3 3 for generating a relative position error measurement for the Kalman filter 3 5 further includes: a scale factor and misalignment error compensation module 3 3 2 for compensating the speed measurement Scale factors and misalignment errors; and

Page 23, 498170 V. Description of the invention (20) A transformation module 3 3 1, which is used to transform the input speed of the on-board system to the speed in the navigation coordinate system; a relative position calculation module 3 3 3, which is used to: The IMU speed and attitude data and the compensated speed are received to form a relative position measurement for the Kalman filter 35. As shown in the sixth and thirteenth drawings, the Kalman filter module 3 5 further includes: a motion test module 3 5 1 to determine whether the carrier stops automatically; a GPS accuracy monitor 3 5 4 to determine whether GPS data can be obtained; a measurement and time-varying matrix forming module 3 5 2 is used to estimate the state according to the carrier motion state from the motion test module 351 and the GPS availability from the GPS accuracy monitor 3 5 4 Module 3 5 3 forms the measurement and time-varying matrix; and a state estimation module 3 5 3 is used to filter and measure and obtain the optimal estimation of IMU positioning error, including IMU position error, speed error, and attitude error. In order to obtain an optimal estimate of the I M U position, a set of error state equations needs to be established for the Kalman filter 3 5. The relationship between the P platform determined with reference to the ideal system and the PC platform determined by the actual system is defined as Cb Cp; Cb (I, cpb where 1 is the identity matrix. [Φ] is the anti-angular matrix of the vector Φ. 0 Φ2-t 0 φχ Λ-Φχ 0

498170 V. Description of the invention (21) The vector Φ is composed of three small angles between the P platform determined by reference to the ideal system and the PC platform determined by the actual system. The gyro and accelerometer models are expressed as: Seven sb where Sb and vb are generalized gyro and accelerometer errors. The subscript B indicates that the error is expressed in the machine system or the sensor system. In this way, the generalized linear I N S error model, with a first-order approximation, can be expressed as the following equation: mp ^ p 〇 十 AGP Ο is expressed in a vector manner as φ = φχω ^ ρ + -sf

Page 25 498170 V. Description of the invention (22) of which cpbfb VP ^ cpbVb

Cpbsb This generalized I N S error model can be used to derive specific error models for different system structures. In a preferred implementation, the state estimation module 3 53 includes: (1) a horizontal filter 3 5 3 1 to obtain an estimate of the horizontal IMU position error; and (2) —a vertical filter 3 5 3 2 to obtain Estimate of vertical I MU position error. The preferred state vector of the horizontal filter state vector contains the following variables: 1. Position error on the X axis (rad) 2. 4 Position error on the Y axis (rad) 3 · Batch χ speed error (F / s) 4 · y Speed error (F / s) 5 · A x tilt error (rad) 6. Y tilt error (rad)

Page 26, 498170 V. Description of the invention (23) Heading error (rad) 8. Δχκ 9 · ～ I 0. ^ X II .ey y 12. sz z 13. Δθ 1 4. Asf Relative position error of X (FT ) About the relative position error (F Τ) of gyro bias error (R / s) gyro bias error (R / s) gyro bias error (R / s) speed generator horizontal deflection angle (rad) speed generator The preferred state vector of the scale factor error vertical filter contains the following variables: 1 · Ael = height error (FT) 2. Δν2 = ζ speed error (F / s) 3. Δζκ = ζ relative position error (FT) 4. ΕΑZOB = ζ Accelerometer Offset (F / s2) Δθν = Speed Generator Vertical Offset Angle (rad) State Estimation Module 3 5 3 Occasionally receives the following external information: (1) Known position change, obtained from GPS receiver 8 from altitude Obtained from the measurement device 9; Obtained from the speed processing module 33; Obtained from the zero speed correction of the motion test module 3 51 (2) Known height change (3) Known position change (4) Position change equal to zero processing obtained; and ( 5) The known heading is obtained from the magnetic sensor processing module 32. The difference between the speed measurement of the speed generator 6 and the I M U speed is decomposed into a horizontal body coordinate system and quickly integrated into three components of relative position.

GPS can be obtained at every Kalman update interval, such as every 8 seconds

Page 27 498170 V. Description of the invention (24) In the data, the XY relative position, the difference between the XYGPS * IN ^ * settings, and the XYGPS * INS speed difference are provided to the horizontal filter, Z relative position, ZGPS and INS position. The difference, the difference between the ZGPS and 1 \ 3 speeds, and the difference between the average altitude and the INS altitude are provided to the vertical filter. The filter is then updated and I M U position corrected. When GPS data cannot be obtained at every Kalman update interval, such as every 8 seconds, the relative position of XY is provided to the horizontal filter, and the difference between the relative position of Z, the average altitude and the INS height is provided to the vertical filter. Device. Filter and wave receiver are updated and I M U position correction. The motion test module 3 5 1 determines whether the carrier has stopped. If the carrier stops, a zero position change is applied to the Kalman filter. The definition of stop is given by the following description. It is assumed that the Kalman filter update interval is eight seconds. The motion during the eight seconds is analyzed to determine if the carrier has stopped for the entire eight seconds. If stopped, the stop flag is set. When correction is made in the presence of small measurement noise, the 'carrier stops for the next eight seconds. Once Stop is set, it is reset immediately when motion is detected, which may be less than eight seconds. If the stop is set 'it is only possible to set it for eight seconds without motion. The motion test module 3 5 1 includes: (1) a speed generator change test module for receiving a speed generator reading to determine whether the user stops or restarts; (2) — a system speed change test module for comparison Changes in system speed over the current and previous cycles to determine if the user stopped or restarted; (3) — system speed test module, used to compare the amplitude of the system speed with

Page 28 498170 V. Description of the invention (25) A pre-defined value is compared to determine whether the user has stopped or restarted; and (4) a posture change test module is used to compare the amplitude of the system posture with a pre-defined The values of the speed generator are compared to determine whether the user stopped or restarted. For example, in the odometer test, at the beginning of a specified eight-second interval, the input pulses of the speed generator are accumulated when read as such. If the accumulated value at any time of eight seconds exceeds a pre-specified value, such as two pulses, the stop is reset. In the system speed test, each pre-specified interval, such as 2 seconds, the average X, Y, and Z speed is determined by the X, Y, and Z position changes within 2 seconds, which are respectively different from the average X, Y, and Z speeds in the previous 2 seconds. Compare. If any 2-second change exceeds a predefined value in any axis, such as 0.1 F / S, the entire eight-second interval is defined as non-stop. Note that a speed of 0.1 F / S for 2 seconds corresponds to an allowable attitude disturbance of 0.2 F, which is about 2 inches. In the system speed test, if we assume a system speed error amplitude of 10 FS, we can use this criterion: compare the average X, Y, Z speed with the speed of the previous 2 seconds every 2 seconds, and the reset stops if any speed Greater than 10 FS in amplitude. On a tracked carrier, there is only one odometer and the IMU is installed near the odometer. The carrier may provide a way to lock the track to make a turn. The mileage meter has no output and the I M U speed is very small. This situation can be detected by the attitude change test. Set stop condition is the total of any 2 seconds and any 8 seconds interval

Page 29 498170 V. Description of the invention (26) The attitude change is less than one degree. GPS accuracy monitor 3 5 4 receives GPS status indication from GPS receiver to determine whether GPS data is available; within each Kalman filter update interval, for example, eight seconds, X, Y, Z relative position measurement is sent to Carl Man filter for one update. Scalar variance = [H] [P] [HT] + R is an estimate of the variance of this measurement and can be used to test the reasonableness of the measured amplitude. There are three such scalars, one for each axis. There are many different types of altitude measuring devices, such as barometric devices and radar altimeters. The barometric altimeter provides the user's altitude relative to average sea level. The radar altimeter provides the user's altitude above the terrain. The height produced by the radar altimeter is called terrain altitude. To generate the user's average sea level height, the current location is used to query the map database to obtain the terrain's relative average sea level height. The height of the terrain plus the height of the terrain relative to the average sea level gives the user the height of the average sea level. As shown in the first figure, the present invention's autonomous / non-disruptive positioning method for the earth's surface includes the following steps: (1) Using a main inertial measurement unit I MU, sensitive user movement, generating a digital angular increase corresponding to user movement Volume and speed increments. (2) Provide an interruptible positioning data through a positioning assistant to assist the autonomous / non-disruptive positioning module based on the main IMU. (3) Use motion measurement to generate user's autonomous / non-disruptive positioning data, and when interruptible positioning data is available, improve user's autonomous / non-disruptive positioning data.

Page 30 498170 V. Description of the invention (27) (4) Improve the user's autonomous / non-disruptive positioning data with other users through wireless communication devices. (5) Provide map data and obtain location and surrounding environment information by accessing the map database with improved user autonomous \ non-disruptive positioning information. (6) The display device uses the surrounding environment information to display improved user autonomous \ non-disruptive positioning data. In a preferred application, step 2 is disclosed as follows: 2A. Use a GPS receiver to obtain GPS rough measurements or GPS position and speed data through GPS status indication. In a preferred application, step 2 is disclosed as follows: 2 B. Obtaining positioning data through a wireless communication device. As shown in the fifth figure, step (3) includes the following steps: 3.1 Sensing the earth's magnetic field with a magnetic sensor to measure the heading angle of the user, 3.2 Measuring the relative speed of the user relative to the ground with a speed generator, 3 .3 measure the user's altitude to form the user's average altitude in digital form, 3.4 mixed digital angular and speed incremental signals, heading angle, relative speed of the user relative to the ground, GPS rough measurement or GPS position and speed data, Generate optimal positioning data. In order to improve the performance, after step (6), the autonomous / non-disruptive positioning process of the present invention further includes the following step: the speed and acceleration data are used to assist the GPS signal code and carrier phase tracking processing to improve the GPS receiver's High dynamic capability. Step (3.4) further includes the following preferred modules ...

Page 31 498170 V. Description of the invention (28) 3.4. 1 Uses digital angular increment and speed increment signals to calculate ten inertial positioning measurements; 3 4 4 Calculates the heading angle using geomagnetic field measurements; 3. 4. 3Using the user's relative speed with respect to the ground, it is a Kalman filter. In the speed generator processing module, a relative position error measurement is generated. 3.4. 4 Converts the height measurement to the user's average altitude in digital form. 3. 4 .5 By performing a Kalman filter calculation, the inertial positioning measurement error is estimated to correct the inertial positioning measurement. In principle, the steps (3 · 4 · 1) can be referred to as inertial navigation system processing. Inertial navigation is a process that calculates the position by integrating the speed, and integrates the total accelerometer to calculate the speed. The total acceleration is obtained by calculating the sum of the gravitational acceleration and the non-gravitational acceleration. In modern I NS, attitude reference is provided by a software integration function in the I NS computer that utilizes inputs from a set of three-axis inertial angular rate sensors. The three-axis angular rate sensor and accelerometer are installed in the same rigid structure in the I NS chassis, and each rigid sensor maintains accurate alignment. This arrangement is called strapdown inertial navigation system, because the inertial sensor is fixed to the chassis, that is, fixed to the user where the I N S is installed. The main function run in the I NS calculation module 31 is: Integrating the angular rate into safety scores is called safety scores, and the safety acceleration data is used to transform the measured acceleration | degrees into an appropriate navigation coordinate system. The acceleration integral in the system is ® speed, called speed integral; the integral navigation system speed is position, called position integral. In this way, three integration functions are involved, attitude, speed, and position,

Page 32 498170 Accurate product replacement product is called, p becomes a possible gait variable, and the amount of posture increase is written by the author. The calculator thinks that the increase number is labeled as the differential speed system, which is integrated with the inertia package. The speed of the system is based on the platform and step data. One counts the change or the average guaranteed variable measurement system is the number system in the 1) posture, and the scientific degree is called \ ^, slightly 4 is the data system and the number of hits is measured. Reasons can be calculated (3 increments are in Lihang I, the indication of the sudden difference in angle of elevation is high, processing, and the table is used to misstep, and the system is divided into degrees, and the formula is 29). The speed coupling of the product S is calculated based on the speed of the 12 seats at 3IN stations. In the flat ball, the first, the 4 and the 4 guides are the four principles, and the flat ground is the ratio of 3 to 3. The water shape requires phase separation processing; to an appropriate dividing speed, for the position integration, it simulates one. The relatively compact vector of the carrier is expressed as follows: where V is the velocity of the carrier relative to the earth, and is represented in the P system. // is the specific force in the P system, or the accelerometer output converted to the math platform system. G;? Is the acceleration of gravity in the P system. Is the angular velocity of the mathematical platform system relative to the earth system in the P system. It is the earth's rotation rate in the P system. In order to obtain the velocity equation determined by I N S, we must first define the motion of the mathematical platform system.

Page 33 498170 V. Description of the invention (30) The P system in strapdown I NS is a horizontal platform, so its position relative to the local geographic system N can be described by a heading angle α. The angular velocity of the platform system relative to the inertial system can be expressed as: where is the angular velocity of the P system relative to the N system. cr? The cosine array of the direction of the system relative to the 1 ^ system. ω: η is the angular velocity of the local geographic coordinate system N system relative to the earth system E system. Since the P system is a mathematical platform, we can define its motion. Based on the above equation, we can obtain an equation describing the motion of the P system relative to the N system: + Qsin ^ ά + ω, tgcp We define the necessary daggers to obtain different I NS mechanical arrangements. Analogous to the frame-type INS, we let = 0 obtain a so-called free bearing system, and let <= QsinP obtain a so-called moving bearing system. In this way we completely define the movement of the mathematical platform. For free bearing system ά For mobile bearing system

tg &lt; P

Page 34 498170 V. Description of the invention (31) Once the motion of the P system is defined, we have a certain strapdown I N S velocity equation. Further, we can obtain a second-order, nonlinear, time-varying, ordinary differential equation as the I N S velocity equation. In the form of geographic latitude and longitude, the position integral equation of I NS can be written as: V;] λ = R + / 2 (v ^ sina + cos a) (Rn + A) cos ¢ 7 (Rn + A) cos ¢ 7 (vx cosa-vy sin a) Note that the longitude equation is a singularity at the two poles of the earth. The calculation of longitude in the polar regions can become difficult. In practice, if navigation or simulation of the polar region is needed, we can introduce other position representation variables. For example, we can use the cosine array C: of the direction of the N series relative to the geocentric Earth system E C E F system as the position variable. In this way, the position equation is expressed as: C; = [&lt;]C; This is a matrix differential equation. Where is an antisymmetric matrix corresponding to the vector &lt;. This differential equation has no singularities, and from C: we can calculate the position expressed as longitude and latitude. However, in this equation,

Page 35 498170 V. Description of the invention (32) There are nine elements and only three degrees of freedom. Therefore, in the calculation, a normalization procedure is required to maintain the normalization of Cen. That is, in each integration step, modify so that it satisfies C; Cn If we consider the INS velocity equation as a nonlinear, time-varying system, the specific force / 〃 and gravity acceleration G 重力 in the P system can be seen Operation is the input to the system. If the gravity anomaly is ignored, the acceleration of gravity can be expressed as

Gp where g is normal gravity, which is expressed as h g = ^ 〇 [1-2A (-) + 5 sin2 φ] a where A = 1 + f + m B = 2.5m-f f = flatness of the reference ellipsoid

[jl = &lt; 3 L · / GM% = equatorial gravity h = height Μ = earth mass G = universal gravitational constant

P.36 498170 V. Explanation of the invention (33) The specific force in the P system, / P, is the actual accelerometer output transformed to the mathematical platform system: Corpse: C; / 6 where the wide is the accelerometer output vector or specific force Represented in the IMU or machine architecture. In order to perform this transformation, the directional cosine array G must be known. That is, the attitude of the I MU system must be obtained. In strapdown I NS, attitude is obtained through high-speed calculations. It was through attitude calculations and coordinate transformations that a mathematical platform was established. In the realization of strapdown I NS, attitude calculation is the most critical. In principle, there are many parameters that can be used to represent the attitude of a rigid body. For example, Euler angles, directional cosine arrays, quaternions, Euler parameters, etc. In practice, directional cosine arrays and quaternions are most commonly used for attitude representation in analysis and calculations. Expressed as a directional cosine matrix, the differential equation of the attitude can be written as:

»» BP This is a matrix differential equation called matrix, which is determined by the following equation. It corresponds to the opposition of the vector.

Page 37 498170 V. Description of the invention (34) The angular velocity of I M U relative to inertial space. This attitude equation is a 9th order, non-linear, time-varying ordinary differential equation. In this equation, however, β has nine elements and only three degrees of freedom. Therefore, in the calculation, a normalization procedure is required to maintain the normalization of ^. That is, in each integration step, G is modified to satisfy C; cf = /. The quaternion representation is often used for attitude calculations due to its simplicity and efficiency. The quaternion equation is not ·; 1 λ = —ωλ 2

Where λ is the quaternion of the column matrix representation w is a 4 4 matrix determined by the angular velocity person

Quaternions use four parameters to represent the attitude of the rigid body, but the rigid body has only three degrees of freedom. The quaternion component is therefore constrained by the following relationship: = 1

Page 38 498170 V. Description of Invention (35) Quaternions that satisfy this relationship are called normalized quaternions. Normalization of quaternions is simple in the integration of the attitude equation. The relationship between the quaternion and the direction cosine matrix is expressed as follows: The model is expressed in compact form. We introduce a vector defined as: ν, a ν: φ a person φ λ so that the calculation model of INS can be written as X ^ Fx (X) ^ ω ^ -F ^ X) cpbfb Ο +

Gp 〇 Page 39 498170 V. Description of the invention (36) C:

) ί-cK As shown in the fourteenth figure, step (3 · 4 · 5) further includes: 3. 4. 5. 1 Perform a motion test to determine whether the carrier is stopped to start zero speed correction; 5. 2 use GPS status indication from GPS receiver to determine whether GPS data is available; 3. 4. 5. 3 form measurement equations and time-varying matrix for Kalman filter; and 3. 4. 5. 4 use The Kalman filter calculates an estimate of the error state. The thirteenth figure shows a preferred implementation flow of steps (3.3.3) forming a measurement. The definitions of parameters and variables in the tenth figure are described as follows:

AD ΔΤ ΔD / ΔΤ SFC V DC DC Doppler pulse number. Doppler pulse number. The speed indicated by the speed generator. Scale factor (F / s) in pulses. Calculated speed. Butterfly and Δθ ^, horizontal and vertical velocity generator deflection angle estimation. PIT and ROL, I MU pitch and roll angle. , Navigation system (travel angle 叼 speed.

AAC, the sum of the calculated α and the calculated heading angle. Use PIT, ROL, AAC

Page 40 498170 V. Explanation of the invention (37) The coordinate transformation must be performed at the current high navigation rate. As shown in the thirteenth figure, step (3 · 4 · 3) further includes: 3. 4.3.1. Converting the measured expression speed in the body coordinate system to the speed expressed in the navigation coordinate system; 3.4.3. 2 Compare the measured speed with the speed obtained by the IMU to get the speed difference; 3. 4.3. 3 Integrate the speed difference over a predetermined period of time. In a preferred application, step (2) is disclosed as follows: 2C. Obtain differential GPS positioning data through a GPS receiver and a data link. As we all know, for L1 and L2 frequencies, the measurement noise of the receiver is 1.9 mm and 2.4 mm respectively, but for P Y and C A codes, the measurement noise of the receiver is 0.3 m and 3 m, respectively. Therefore, the above-mentioned implementation scheme of the present invention is improved by the differential GPS (DGPS) carrier phase method. As shown in the eighth figure, in order to use DGPS, the positioning assistance device 8 further includes: 1 A GPS receiver 8A, called a GPS motion receiver, is used to receive GP.S high-frequency signals and generate GPS rough measurements (pseudo-range, pseudo-range) Rate, and carrier phase), or GPS position and speed data; and 2—Data Link 8B is used to receive position and speed GPS coarse measurements (pseudorange and phase) from a GPS reference point for differential GPS positioning. In order to improve performance, the speed and acceleration data from the navigation measuring device are fed back to the GPS receiver to assist in tracking the GPS signal code and carrier phase.

498170 V. Description of the invention (38) However, the high accuracy of GPS carrier phase positioning is based on the prerequisite condition, namely the solution of phase ambiguity. The inherent ambiguity of the phase measurement depends on both the GPS receiver and the satellite. Under ideal conditions, there is no carrier phase tracking error, the real position of the receiver and satellite is known, and the phase ambiguity can be solved immediately by a simple mathematical calculation. However, there are actually satellite ephemeris errors, GPS satellite clock errors, post-atmospheric propagation, multipath effects, receiver clock errors, and receiver noise in distance measurements from GPS signals and phase tracking loops. Therefore, a phase kernel paste method for the above D G P S implementation is disclosed herein. The GPS receiver 8A receives GPS high-frequency signals from GPS satellites and outputs pseudorange, Doppler shift, GPS satellite calendar, and atmospheric data to the Kalman filter 35. Accordingly, as shown in the ninth figure, the preferred real-time software running in the navigation processor 3 further includes a new satellite periodic slip detection module 36, which receives GPS measurements from the GPS receiver 8 A, and GPS references from the data link 8B Measure to determine if a new GPS satellite enters the line of sight or a periodic slip occurs; and a dynamic blurring module 37 receives GPS measurements from the GPS receiver 8 A and GPS reference measurements from the data link 8 B. When the new It works when a GPS satellite enters the line of sight or a periodic slip occurs, determining the entire week is blurred. For GPS measurements, the double difference scalar equations for L1 and L2 are r mr

Page 42 498170 V. Description of the invention (39) where (·) ι indicates that the double difference is formed in the form of (previous (乂 一 (.) 丨 + (.) 丨). The subscripts m and r indicate two receivers, Reference and sports stations. The superscripts i and j indicate two different GPS satellites. P and Φ are pseudorange and phase length range measurements respectively. The factory is two antennas, the user's GPS receiver and the GPS satellite, in nominal time. Phase center geometric distance. &Amp; is the correction of the nominal geometric distance. A represents the wavelength. &Lt; is the double difference fuzzy. | Is the double difference residual of the ionospheric effect at the frequency of L1 and L2. Fk t is the stratosphere effect Double-difference residuals. Double-difference residuals with phase center changes. Double-difference residuals with multipath effects. Narrow and wide-channel phase length measurements are defined as

A /; One Λ A / ι + Λ φ, ί h / 1 One Λ Λ corresponds to the whole week ambiguity is Ν '‘

Knr «So the frequency of the narrow and wide channels is / w = / i * · / 2 and the linear geometric L1 and L2 equations, and G is used to represent the time on the period K. The sequential averaged double difference wide channels Fuzzy real numbers are represented as

k ⑴ page 43 498170 V. Description of the invention (40) The approximate double-difference narrow-track fuzzy real number is expressed as

NiJ. Nmr -UnJ -Φ7 / \ vv wmr l〇mr t Nij; wmr 4ij-Pij-d ij \ wmr nmr pcw m • (h): k · (2) η Ρηυ fUnr kk, which is the observation of the ionospheric signal fl fx • d Λ • d., and ___ _____) // ___ ___ ^ 'f ^ hXmr 2mrt pCwm ^ A-f2 pChemr / t- / 2 ΡΓ2 / Pc ”ntr f' 0pc 'mr seven pCl mr · 4 and; lrt are the narrow and wide channel blurred wavelengths respectively. Also, the pseudorange and phase length models without ionospheric layer are defined as? 2 ρ ϋ f \ &quot; p (i__fl plJ riFmr ~~ pL ~ 7l r \ mr 75 ~ 7l r2mr df: -fl • / 2 fl 乂 2-m &lt; As shown in the ninth figure, when the new satellite periodic slip detection module 36 is working, the motion blur solution module 37 is activated. Therefore, the GPS receiver receives Coarse measurement and Doppler frequency shift measurement of machine 8A, and reference coarse measurement from data link 8 B

Page 44

498170 V. Description of the invention (41) Measurement, Doppler frequency shift measurement, position and velocity are input to the dynamic blur solution module 37 to determine the whole-cycle blur. After the whole-week blur is determined, it is input into the Kalman filter 3 5 to further improve the measurement accuracy of the G PS coarse data. Figures 15 through 18 show the method and process for the dynamic fuzzy solution module 37. Figure 15 shows the process of the dynamic fuzzy solution module 37. When the motion blur solution module 37 works, a search window is set. The search window consists of several periods, assuming N periods. In the search window, an intermediate fuzzy search strategy I A S S is used to search the whole week's paste in each period. The dynamic blur solution module 37 performs the following steps: (a) When the new satellite periodic slip detection module is working, that is, when the new satellite 0 or periodic slip occurs, the dynamic blur solution module is initialized; (b) determine the whole week blur, estimate an More accurate user navigation solution, and (c) send the whole blur to the Kalman filter and waver 35 from the dynamic blur solution module 37. The above step (b) further includes the following steps: (b. 1) using an intermediate fuzzy search strategy IASS and estimator library, establish a fuzzy set and determine the fuzzy integer period; and (b · 2) verify and confirm the fuzzy integer period. Basically, I A S S includes simplified least squares and ultra wide track techniques. Before applying the least square method to search the fuzzy solution, the two observable satellites with two antennas, the reference station and the mobile station can be divided into two groups: the main satellite, because the double difference equation is applied, the satellite with the maximum altitude angle is

Page 45 498170 V. Description of Invention (42) Defined as a reference satellite. The main satellite consists of four satellites with larger altitudes followed by four independent double-difference equations. Sub-satellites, and the remaining observable satellites fall into the sub-satellite category. As shown in Figure 16, the IASS process includes a double-difference wide-channel fuzzy solution module 371, a fuzzy region determination module 3 7 2, a least square search estimator 3 7 3, a position calculation module 3 7 4, and a The second double-difference wide-channel fuzzy solution module 3 7 5, an ultra-wide-channel technical module 3 7 6, and an L 1 and L 2 fuzzy solution module 3 7 7. The first step of the I A S S process is to resolve the main double-difference wide-channel fuzzy solution module in the main double-difference wide-channel fuzzy solution module. The advance information about the position of the motion table is obtained from the ionosphere-free pseudorange measurement and combined with the approximate double-difference wide-track phase length measurement (Equation 1) to form an instant equation. At the same time, advance information about the position of the motion table can also be given by the output of the navigation processor 3. The minimum variance and prior information are used to estimate the motion station position and the main double-difference wide-channel fuzzy solution. After estimating the main double-difference wide-channel fuzzy solution, the estimated main double-difference wide-channel fuzzy solution and the corresponding co-factor matrix are sent to a fuzzy region determination module, in which, based on the estimated double-difference wide-channel fuzzy solution and the corresponding Cofactor matrix, build a fuzzy search area. The fuzzy search area is fed into a least square search estimator. Apply a standard least squares search method to search the fuzzy set in the least squares search estimator. Also, the standard least square search method can be simplified to speed up fuzzy searches. The simplified least squares search method is defined as a direct search of fuzzy sets to minimize the residuals of the quadratic form

Page 46 498170 V. Description of the invention (43) Among them, is the optimal estimation vector of the real number of the double-difference wide-channel fuzzy solution. Estimated cofactor matrices, no statistical or empirical tests because the estimator library will perform the task of confirmation. The determined main double-difference wide-channel fuzzy solution is sent to the position calculation module to calculate the position of the motion table. The obtained position of the motion table is sent to the sub-double-difference wide-channel fuzzy solution module, and the position of the motion table determined by the wide-channel blur is used to measure the phase of the second-double-difference wide-channel.

By substituting the obtained double-difference wide-channel fuzzy solution into Equation 2, an approximate double-difference narrow-channel fuzzy solution can be obtained. The super wide-channel technique states that if the wide-channel fuzzy solution is even (odd), the corresponding narrow-channel fuzzy solution is odd (even), otherwise the opposite is true. By applying the ultra-wide-channel technology, a narrow-channel fuzzy solution can be obtained in the wide-channel technology module. Therefore, in the L 1 and L 2 fuzzy solution modules, the L 1 and L 2 fuzzy solutions are obtained from the combination of the wide-channel fuzzy solution and the narrow-channel fuzzy solution, which respectively correspond to

with

Nj + Njj Wmr_nmr 2

NlJ -N nmr w 2 ~

As shown in Figure 15, when the current fuzzy set from I A S S is different from the previous period, the current fuzzy integration is a new member of the estimator bank 3 78 and the corresponding weight bank 3 7 9. When the current fuzzy set is the same as a previous fuzzy set in the estimator library 3 78, the number of Kalman filters in the estimator library 3 78 is unchanged. The full form estimator library 3 7 8 and the corresponding weight library 3 7 9 are shown in the eighteenth figure. The process of building the estimator library and weight library is shown in Figure 17 and contains

Page 47 498170 V. Description of the invention (44) The following steps: Apply I ASS to search the entire fuzzy set in the first period of the search window. Because there are no members in the estimator bank 3 7 8 before the first period, integer fuzzy integration is a member of the estimator bank. Based on the fuzzy set and phase measurement, the fuzzy solution determined by the position of the motion station is estimated, and then the corresponding weights are calculated in the weight library. The calculation of weights is based on Ά, (3) 7 = 1 where ~ (zhenqi ⑷green 2 ···, ^ Ν14 The first term of the product can be expressed as i = 1,2 ,. (4) _1_ &quot;(2; ^ det (cov (zk ^))

-exp zTkoov (A0kYi, which is assumed to be defined as a Gaussian distribution. Equation 4 shows the cumulative characteristics of ~ ίΔφ1ΐΌ, where P, «(Δφ1 | N0 represents the probability function of the measurement sequence G at a single fuzzy set N ,. In other words, the calculation of the weight depends not only on the data of the current period, but also on the data of the previous period. Det (·) and (· wide denote the determinant and inverse of the matrix respectively. ^ Is the optimal measurement residual at time ^ , The measured value minus the optimal calculated value.

cov (M ^) = _ £ ^ i: [is a matrix of variances measured at time L. r is the number of dimensions that disappears by 1 in each period. For the first period of the search window (y (k = l) Equation 4 (probability) becomes

Page 48 498170 V. Description of the invention (45) ^ / (2 ^) rdet (cov (zkPj) • exp z [c〇v (Office Γ, 1,2, ..., Zλ (5) Of course, in the right The value of the sole weight (D = 1 Equation 3) in library 3 7.9 is 1. In this period, the optimal stage position is the position of the stage multiplied by the corresponding weight. Based on the optimal stage position And Doppler shift to estimate the speed of the table.

In the second period of the search window, I ASS is used to search the fuzzy set. Two situations may occur: 2-1. When the whole week fuzzy set is the same as the period 1 in a certain period, the number of Kalman filters in the estimator library 3 7 8 is still 1, as shown in the lower half of the seventeenth figure Department shown. Based on the fuzzy set and phase measurement period 2, the solution of the position fuzzy determination of the motion station and the calculation of the accumulative accumulative weights in the weight base are Equations 3 and 4, where D = 1. The optimal position of the mobile station in period 2 is equal to the position of the mobile station multiplied by the corresponding weighted nature, in which case the weight is equal to 1. Based on the optimal mobile station position and Doppler frequency shift, the mobile station speed is estimated.

2-2. When the whole week fuzzy set is different from the previous period and period 1, a new member of the current fuzzy set estimator, that is, the number of Kalman filters in the estimator library 3 7 8 is 2, such as the tenth Shown in the upper half of the figure. Based on each fuzzy set and the same phase measurement period2, the position of a single motion station (the solution of fuzzy determination) can be estimated, and the calculation of each corresponding weight in the weight base is based on the square

Page 49 498170 V. Description of the invention (46) Processes 3 and 5 (where D = 2). In other words, when the new fuzzy set is solved, each corresponding weight in the weight library 379 is calculated from the beginning. During period 2, the optimal position of the sports table is equal to the position of a single sports table times the sum of corresponding weights. Based on the optimal mobile station position and Doppler frequency shift, the mobile station speed is estimated. For the rest of the search window, the same procedure as in step 2 is applied. In the last period of the search window, period N, after the IASS search, the estimator bank 3 7 8 and the weight bank are completely established, as shown in Figure 18. As shown in Figure 18, each Kalman filter in the estimator library has its own fuzzy set, which is selected by IASS during the search window. Therefore, the number of Kalman filters in the estimator library 3 7 8 is an arbitrary positive integer, which depends on the number of different fuzzy sets searched from I ASS during the search window. Based on each fuzzy set and phase measurement, the solution of the fuzzy determination of the position of a single motion station can be estimated, and each corresponding weight in the weight library can be accumulated and calculated based on equations 3 and 5. Therefore, the optimal position of the sports table is equal to the sum of the weights of the individual sports tables. Based on the optimal mobile station position and Doppler frequency shift, the mobile station speed is estimated. Follow this procedure until a criterion is satisfied, which is defined as: ^ (ao; | n &gt; c where C is a large uncertainty number to ensure that the fuzzy set is sufficiently robust. After this criterion is satisfied, The estimator library 3 7 8 and the weight library 3 7 9 stop working and output the selected integer blur to the Kalman filter, as shown in Figure 18. _ During the confirmation period, from the first period of the search window to the current estimator Library 3 7 8 and weight library 3 7 9 stopped working period, the estimator library 3 7 8 and weight library 3 7 9 are identified correctly

Page 50 498170 V. The whole week fuzzy set of the description of the invention (47), and estimate the position of the moving platform in real time. An important feature of the estimator library 3 7 8 and the weight library 3 7 9 is that the weights in the weight library that correspond to the correct whole-cycle blur in the estimator library 3 7 8 are closer to one, while the other ones correspond to the remaining fuzzy sets. , Converges to zero. Therefore, the correct selected weekly fuzzy set is a weekly fuzzy set with a weight close to one. During the whole process, when a new satellite or periodic sliding occurs, the dynamic blurring module 37 will start to work. The preferred IMU1 is a small IMU in which a position and attitude processor is built. This position and attitude processor can replace the above-discussed I NS calculation module 31. The small I M U is disclosed below. Usually, an inertial measurement component is used to measure the motion parameters of the carrier. In principle, the inertial measurement component relies on three orthogonally mounted inertial angle _ rate generators and three orthogonally mounted acceleration generators to obtain triaxial angular rate and acceleration signals. Three orthogonally mounted inertial angular rate generators and three orthogonally mounted acceleration generators, along with corresponding supporting structures and electronic circuits, have traditionally been referred to as the inertial measurement unit I MU. Traditional inertial measurement components can be divided into platform-type inertial measurement components and strap-down inertial measurement components. In the platform type inertial measurement unit, the angular rate generator and the acceleration generator are installed on a stable platform. The attitude measurement of the carrier can be obtained directly from the structure of the platform. However, the attitude angular rate measurement of the carrier cannot be taken directly from the platform. In addition, the platform-type inertial measurement component must have a corresponding high-precision feedback control loop. Compared with the platform type inertial measurement module, in the strapdown inertial measurement module ®, the angular rate generator and acceleration generator are directly connected to the carrier, and the output signals of the angular rate generator and acceleration generator are expressed in the carrier coordinate system.

Page 51 498170 V. Description of the invention (48). The attitude and attitude angular rate signals of the carrier can be obtained through a series of calculations. Traditional inertial measurement components use different kinds of angular rate generators and acceleration generators. Traditional angular rate generators include iron rotor gyros and optical gyros, such as liquid floating integral gyros, dynamic tuning gyros, ring laser gyros, fiber optic gyros, electrostatic gyros, Joseph gyros, and hemispherical resonance gyros. Traditional angular rate generators include pulse integral pendulum accelerometers, pendulum gyro accelerometers, and so on.

The signal processing method, mechanical structure, and electronic circuit of traditional inertial measurement components vary with different types of gyroscopes and accelerometers used. Because traditional gyroscopes and accelerometers have large volume, large power consumption, and movable components, they require complex feedback control loops in order to obtain stable motion measurements. For example, power-tuned gyroscopes and accelerometers require a force-rebalancing loop to keep moving parts in a zero-return position. Pulse-modulated force rebalance circuits are commonly used in inertial measurement groups based on dynamically tuned gyros and accelerometers. Therefore, traditional inertial measurement components usually have the following characteristics: • Cost control • Large size (volume, weight)

• Large power consumption • Short life • Long start-up time These shortcomings of traditional inertial measurement components have greatly limited their use in emerging commercial applications, such as mobile communication

Page 52 498170 V. Description of the invention (49) Array antenna, car navigation, and some handheld devices. New inertial inertial sensor technology is emerging. Compared with traditional inertial sensors, inertial sensors using microelectromechanical system (MEMS) technology can greatly increase the cost, size, and reliability of guidance, navigation, and control systems. Micro-electro-mechanical systems can be simply referred to as micro-mechanics. Micro-electro-mechanical systems are considered to be the next logical step in the Guinea's revolution. This step is different and more important than integrating more transistors on the silicon. The essence of this silicon revolution in the next 30 years is to introduce a new revolution in silicon structure, making silicon not only thinkable, but also sensitive, perform actions, and communicate.

Various MEMS angular rate sensors have been developed to meet the demand for low cost and reliable angular rate sensors in applications ranging from automotive to consumer electronics. The uniaxial ME MS angular rate sensor is based on the principle of linear resonance, such as a tuning fork, or the principle of structural modal resonance, such as a vibrating ring. Even better, multi-axis MEMS angular rate sensors can be based on the angular resonance principle of a rotating rigid rotor suspended by a tension spring. Most of the existing ME MS angular rate sensors are based on electrostatically driven tuning tuning fork methods.

Most MEMS accelerometers are force feedback types, using closed-loop capacitive sensing and electrostatic force methods. For example, the accelerometer of the company is a typical one, which has a single silicon structure, including a tension pendulum and its capacitive signal readout device and a torque device. Analog Devices' MEMS accelerometer uses an integrated multilayer silicon structure manufactured on-chip BIM0S process, including precision voltage reference, local oscillator, amplifier, demodulator, force feedback loop, and self-test circuit.

Page 53 498170 V. Description of the invention (50) Although the MEMS angular rate sensor and accelerometer with small size and low power consumption are available from the commercial market, there is no high performance, small size, and low power consumption inertial measurement. Components. Currently, MEMS devices make use of the underlying structure of microelectronic circuits to produce complex machinery with tiny dimensions. These machines can have many functions, including sensitivity, communication, and execution. These MEMS devices can be widely used in various commercial systems. The difficulty in manufacturing small inertial measurement components is to use a low-cost, low-accuracy angular rate sensor and accelerometer to manufacture the IMU, which has: • Low cost • Small size φ • Light weight • Low power consumption • No damage period / long use Lifetime • Immediate start characteristics • Large dynamic range • High sensitivity • High stability • South accuracy In order to achieve the above-mentioned high performance, many difficulties need to be solved, such as: (1) Can obtain tiny angular rate sensors and accelerometers. Currently, the smallest angular rate sensors and accelerometers are MEMS angular rate sensors and accelerometers. (2) The corresponding mechanical structure needs to be designed.

Page 54 498170 V. Description of the invention (51) (3) The corresponding electronic circuit needs to be designed. (4) Meet the corresponding thermal design requirements in order to compensate the thermal effects of the MEMS sensor. (5) The size and power consumption of the corresponding electronic circuit should be greatly reduced. The IMU of this patent preferably uses an angular rate generator and an acceleration generator, such as an MEMS angular rate device array or a gyro array, in order to generate a triaxial angular rate signal of the carrier; the MEMS acceleration generator array or the accelerometer array, so Generate a triaxial acceleration signal for the carrier. The motion measurements of the carrier, such as attitude and heading angle, are obtained by processing the three-axis angular rate signal from the angular rate generator and the three-axis acceleration signal from the acceleration generator. In this patent, the output signals of the angular rate generator and acceleration generator are processed to obtain high-precision digital signals of the carrier's angular increment and velocity increment, and further processed to obtain the high-precision position of the download body in a dynamic environment, Speed, attitude, and heading measurements. As shown in Figure 19, the small inertial measurement component of this patent includes an angular rate generator C5 to generate three-axis (X, Υ, Z-axis) angular rate signals; an acceleration generator C10 to generate three-axis (X, (Z axis, Z axis) acceleration signal; one-angle increment and speed increment generator C6 is used to convert the three-axis angular rate signal into digital angular increment and the three-axis acceleration signal into digital velocity increment. Further, a position and attitude processor C 80 is included in the small inertial measurement unit of this patent, which uses three-axis digital angle increments and three-axis number® word speed increments to calculate position, velocity, attitude, and heading measurements In order to provide rich motion measurement to meet the needs of different users.

Page 55 498170 5. Invention description (52) The position and attitude processor C80 further includes two optional execution modules z (1) attitude and heading module C81 for generating attitude and heading angle; (2) position and speed The attitude and heading module C 8 2 is used to generate position, speed and attitude angle. Selecting the Attitude and Heading Module C 8 1 enables the small inertial measurement module to have an Attitude Heading Reference System (ARHS) function. Selecting the execution position, speed, attitude, and heading Module C 8 2 enables inertial navigation system (INS) functions for small inertial measurement components. Generally, the angular rate generator C 5 and the acceleration generator C 10 are very sensitive to changes in ambient temperature appeal. In order to improve the measurement accuracy, as shown in the twentieth chart, this patent further includes a thermal control device in order to maintain the working temperature of the angular rate generator C 5, the acceleration generator C 10 and the angular and speed increment generator C 6 at Set value. It is worth pointing out that if the angular rate generator C5, the acceleration generator 10 and the angular and speed increment generator C6 operate in a constant temperature environment, the thermal control device may not be used. According to a preferred solution of the small inertial measurement module of the present invention as shown in Fig. 26, the thermal control device further includes a heat sensitive generator C1 5, a heater C20, and a heat processor C30. The thermal sensitive generator C15 works in parallel with the angular rate generator C5, the acceleration generator C10 and the angular and velocity incremental generator C6 to generate a temperature_ signal in order to convert the angular rate generator 5, the acceleration generator The operating temperature of C 1 0 and the angular and speed increment generator C 6 is maintained at the set value. set up

Page 56 498170 V. Description of the invention (53) The temperature is a constant value and can be selected between 5o F and 8 5 F, preferably 7 6 f (0 · 1 F). The temperature signal from the thermal sensitive generator C15 is output to the teaching, and the thermal processor C30 uses the temperature signal and temperature scale. The amount of heat is generated by 6 and the acceleration generator C10 and the angular increase and speed increase. Ί Γ f Calculates the temperature control instruction and drives the ## to the heater C20 to control the heater C20 to produce "", Keep the angular rate generator C5 and the acceleration generator ... and the predetermined operating temperature of the angular increaser I and the speed increaser C6. The angular angular rate generator C5 and the acceleration generator C1 0 The temperature characteristics of the spring are: 系列 The temperature characteristic parameters of the series of angular rate generators and acceleration generators are obtained during the calibration process. Again, 7 At At 心 十 图 'When there is no heat processor c 3 0 and heater c 2 0, 1? Measurement errors of angular rate generators and X-ray generators caused by changes in the temperature of the ring brother. The small inertial measurement group of the present invention is used to receive icf from the thermally sensitive generator. For example, the output-number temperature signal is given to position, speed, attitude, and flight I 尨 / ^. As shown in Figure 20, the temperature digitizer C18 can be preferably a pseudo-board analog / digital converter C182. ^ F2t2 Position, speed 'attitude and heading module C82 uses from A: T device 0 18 of the angular rate generator C5 and the acceleration generator C10: = Privately query the angular rate generator C5 and the acceleration generator cl0. The number of digital angle increments and digital speed increments of the compensation input, … Effect error, using compensated digital angular increment and digital speed

498170 V. Description of the invention (54) Increments in degrees are calculated in the attitude and heading processor C80. In most applications, the output signals of the angular rate generator C5 and the acceleration generator C10 are analog voltage signals. The triaxial angular rate analog voltage signal generated by the angular rate generator C5 is directly proportional to the angular rate of the carrier, and the triaxial acceleration analog voltage signal generated by the acceleration generator C 10 is directly proportional to the acceleration of the carrier. When the analog voltage signals output by the angular rate generator C5 and the acceleration generator C10 are too weak, so that the angular increment and velocity increment generator C 6 cannot be read, as shown in Figures 23 and 24 As shown, the angular increment and velocity increment generator C6 can use amplifier devices C660 and C665 to amplify the analog voltage signals output by the angular rate generator C 5 and the acceleration generator C 1 0 and compress the noise therein. As shown in the twenty-second figure, the angle increment and speed increment generator C6 further includes an angle integrator C620, an acceleration integrator C630, a resetter C640, and an angular increment and speed increment measurer C650. The angle integrator C 6 2 0 and the acceleration integrator C 6 3 0 are respectively used to integrate the three-axis angular rate analog voltage signal and the three-axis acceleration analog voltage signal within a predetermined period of time, so as to accumulate the three-axis angular rate analog voltage signal and The three-axis acceleration simulates voltage signals to form uncompensated original angular increments and velocity increments. This integration operation is to eliminate the noise signals that are not directly proportional to the carrier angular rate and acceleration in the three-axis angular rate analog voltage signal and the three-axis acceleration analog voltage signal, to improve the signal-to-noise ratio, and to eliminate the three-axis angular rate lubricity High-frequency noise in analog voltage signals and triaxial acceleration analog voltage signals. These triaxial angular rate analog voltage signals and triaxial acceleration analog voltages

Page 58 498170 V. Description of the invention (55) The signal in the signal is directly proportional to the angular velocity and acceleration of the carrier. The resetter generates an angle reset voltage pulse and a speed reset voltage pulse, which are output as angle and speed scales to the angle integrator C 6 2 0 and the acceleration integrator C 6 3 0, respectively.

The angular increment and velocity increment measurer C 6 50 uses the angular reset voltage pulse and the velocity reset voltage pulse to measure the accumulated three-axis angular rate analog voltage signal and the three-axis acceleration analog voltage signal to obtain the angular increment count value and The speed increment count value is corresponding to the digital quantity of the angular increment and the speed increment. In order to be able to output the actual angular increment and velocity increment, as another option for outputting the angular increment and velocity increment voltage value output, the angular increment and velocity increment measurer C650 measures the angular increment and velocity increment voltage values. Converted to actual angular and speed increments. In the angle integrator C 6 2 0 and the acceleration integrator C 6 3 0, the three-axis angular rate analog voltage signal and the three-axis acceleration analog voltage signal are respectively reset so as to start from zero at the beginning of each predetermined time period. accumulation. As shown in the twenty-fourth figure, the resetter C 6 40 may be an oscillator C 6 6 which generates a timing pulse as an angle reset voltage pulse and a speed reset voltage pulse. In some applications, the oscillator C 6 6 is made of a specific circuit, such as an application specific integrated circuit (AS IC) and a printed circuit board.

As shown in the twenty-fifth figure, the angular increment and velocity increment measuring device C 6 5 0 for measuring the accumulated three-axis angular rate analog voltage signal and three-glaze acceleration analog voltage signal can use an analog / digital converter C6 5 0 to achieve. Said another way, the analog / digital converter C 6 50 actually digitizes the original angular increment and velocity increment voltage values into digital quantities of angular increment and velocity increment.

Page 59 498170 V. Description of the invention (56) As shown in Figure 29 and Figure 33, the amplifiers C660 and C66 of the angular increment and velocity increment generator C6 can use a corner amplifier circuit C61 and The acceleration amplifier circuit C 67 is implemented. The angular amplifying circuit C 61 and the acceleration amplifying circuit C 6 7 respectively amplify the three-axis angular rate analog voltage signal and the three-axis acceleration analog voltage signal to form an amplified three-axis angular rate analog voltage signal and a three-axis acceleration analog voltage signal. The angle integrator C620 and the acceleration integrator C630 of the angular increment and velocity increment generator C6 can be implemented by an angle integrating circuit C 62 and an acceleration integrating circuit C 68, respectively. The angle integration circuit C 62 and the acceleration integration circuit C 68 respectively receive and integrate the amplified three-axis angular rate analog voltage signal and the three-axis acceleration analog voltage signal from the angle amplifier circuit C 6 1 and the acceleration amplifier circuit C 6 7 to form Accumulated triaxial angular rate analog voltage signals and triaxial acceleration analog voltage signals. The analog / digital converter C650 of the angular increment and speed increment generator C6 further includes an angular analog / digital converter C63, a speed analog / digital converter C69, and an input / output interface circuit C65. The accumulated angular increment from the angle integration circuit C62 and the accumulated speed increment from the acceleration integration circuit C 6 8 are output to the angular analog / digital converter C63 and the speed analog / digital converter C69, respectively. The amount is measured by the angle analog / digital converter C 6 3, and the accumulated angle increment is measured by using the angle reset voltage signal to form an angle increment count value as a form of the digital angle increment voltage. The angular increment count value is input to the input / output interface circuit C65 to form a digital three-axis angular increment voltage value.

Page 60 498170 V. Description of the invention (57) Accumulated speed increment The speed analog / digital converter C 6 3 uses the speed reset voltage signal to measure the accumulated speed increment to form a speed increment count value as A form of digital speed incremental voltage. This speed increment count value is output to the input / output interface circuit C65 to form a digital three-axis speed increment voltage value. As shown in the twentieth and twenty-sixth figures, in order to realize the flexible adjustment of the thermal treatment C30 for the thermal generator C15 with an analog voltage output and the heater C20 with an analog input, the thermal processor C30 can be shown in Figure 26 Digital feedback control loop to achieve. As shown in the twenty-sixth figure, the thermal processor C30 includes an analog / digital converter C 3 0 4 connected to the thermal sensitive generator C 1 5 and a digital / analog converter C 3 0 connected to the heater C 2 0. 3 and a temperature controller C3 0 6 connected to the analog / digital converter C 3 0 4 and the digital / analog converter C 3 0 3. The analog / digital converter C304 input generates a temperature voltage signal through the thermal sensitive generator C15. The analog / digital converter C304 samples the temperature voltage signal, digitizes the voltage signal, and outputs the digital temperature signal to a Temperature controller C 3 0 6 ° The temperature controller C 3 0 6 uses the digital temperature voltage signal from the analog / digital converter C 3 0 4, the temperature calibration coefficient and the predetermined operation of the above-mentioned angular rate generator and acceleration generator. Temperature to calculate a digital temperature control instruction, and send the digital temperature control instruction to a digital / analog converter C303. _ Digital / analog converter C 3 0 3 converts the digital temperature control instruction from the above digital temperature controller C 3 0 6 into an analog signal, and converts the analog signal

Page 61 498170 V. Description of Invention (58) is output to a heater C20 in order to generate a predetermined operating temperature of the I MU appropriately. …, Take Yi Bao A as a further step, as shown in the twenty-seventh figure, if the important person is to be successful + Dou Zhan 啻 hate film hate 2s and the voltage signal generated by the thermal induction generator C15 is too weak, so that Analog / digital transcoding, the heat treatment C30 further includes a first connection between: C30 not month b digital / analog converter_; in the same way, a voltage signal is obtained from the thermal sensor generator C15, The input to the first amplifier circuit C 3 01 amplifies and suppresses noise in the voltage signal, improves the signal-to-noise ratio, and the amplified voltage signal is input to the analog / digital converter c 3 04. The heater C 2 0 needs a special drive current signal. In this case, as shown in Figure 28, the heat treatment C 30 further includes a second connection between the digital / analog converter C303 and the heater C20. Amplifier circuit C302. The second amplifier circuit C 3 02 amplifies the input analog signal from the digital / analog converter C303 to the heater C 2 0. In other words, the digital temperature command from the temperature controller C 3 0 6 is converted into an analog signal in the digital / analog converter C 3 0 3, and the signal is input to the amplifier circuit C 3 0 2. As shown in Fig. 29, an input / output interface circuit C305 is sometimes required to connect the analog-to-digital converter C304 and the digital converter c3003 to the temperature controller C306. In this case, as shown in Fig. 29, the above-mentioned voltage signal is sampled by the analog / digital converter C304 and the sampled signal is digitized, and then the digital signal is output to the input / output interface circuit C305. As mentioned above, the temperature controller C 3 0 6

Page 62 498170 Five 'invention description (59) ~~ One--One ~ Digital temperature and voltage transmission of the converter C 3 〇4, 1 ticks move = batch rate = angular rate generator and accelerated production: t; ; 系; = ;;,! Instruction, and output the digital temperature control instruction as a digital input: circuit C3 0 5. The digital / analog converter C3 03 converts the control command from the input / input analog word temperature into an analog signal, and converts the note ί Ϊ ΤΜΪ; the heater C2 °, in order to generate appropriate heat to ensure. The predetermined operating temperature of this note I M U. = As shown in Figure 30, as described above, on the other hand, heat treatment C30 and heater 图 in Figure 20 and Figures 29 to 29 can be realized by connecting the generator C15 to an analog / digital converter C182. So that the voltage signal of the self-heating generator C15. If the thermal sensor ci5 祙 and electric ΐ 彳 _! Are too weak, so that the analog / digital converter c 1 8 2 cannot be two—as shown in the twentieth—the additional amplifier circuit C 181 can It is connected between the thermal generator C15 and the analog / digital converter C182, so as to reduce noise, compress the voice in the signal, and improve the signal-to-noise ratio. The amplified im number is sent to the analog / digital converter cm. The amplified signal is digitized by analog / digital I / 2/2/8 2 sampling of the input signal. The digital signal is outputted to the attitude heading processor C8. —Μ ί On the one hand, the input / output interface circuit c 183 may be connected between the analog / digital conversion fCl 82 and the attitude heading processor C80. In this way, as shown in the tenth and fourteenth figures, the amplified signal is sampled by the analog / digital converter C182, and the signal is digitized into a digital signal. This digital signal is output to the input / output interface circuit C1 83.

Page 63 498170 V. Description of the invention (60) As shown in the nineteenth figure, through the angular increment and speed increment generator C6, a digital three-axis angular incremental voltage value or real value and three-axis numbers are generated and output. Speed increment voltage value or true value. In order to adapt the digital triaxial angular incremental voltage value and digital triaxial speed incremental voltage value from the angular increment and speed increment generator C6, as shown in the twenty-fifth figure, the attitude course processor C 8 1 includes a Conical error compensation module C 8 1 1, where the digital tri-axis angular incremental voltage value from the input / output circuit C 65 of the angular increment and velocity increment generator C 6 at a high rate (short period), and from one corner The coarse velocity angular rate offset of the velocity and acceleration generator calibration process is input to the cone error compensation module C 8 1 1. In this cone error compensation module, use the input three-axis angular incremental voltage value and rough angular velocity offset to calculate the circle 0 cone effect error, and output the three-axis cone effect error and long period at a lower rate (long period). Incremental triaxial angle voltage value. The attitude course processor C 81 further includes an angular rate compensation module C812 and an alignment rotation vector calculation module C815. Among them, the above-mentioned cone effect error and triaxial long period angular incremental electrical sub-values from the above-mentioned cone error compensation module C8 1 1 and the angular rate generator misalignment angle parameters from the above-mentioned angular rate and acceleration generator calibration process, Fine angular rate offset error term, angular rate generator scale factor, cone correction scale factor, input to the above-mentioned angular rate compensation module C 8 1 2 in order to use the input cone effect error, angular rate generator installation misalignment angle, The precise angular rate offset error term and the positive calibration coefficient of the circular cone are used to compensate the three-axis long-period angular incremental voltage _ value input above. The scale factor of the angular rate generator is used to compensate the three-axis long period after the compensation. The angular incremental lightning pressure value is converted into an actual three-axis long period angular increase

Page 64 498170 V. Description of the invention (61) Measurement value, and output the above-mentioned actual three-axis long period angle increment value to an alignment rotation vector calculation module C81 5. The attitude course processor C 81 further includes an acceleration compensation module C813 and a horizontal leveling speed calculation module C814. Among them, the three-axis speed increment voltage value from the input / output circuit C65 of the angular increment and speed increment generator C6, and the installation misalignment angle and acceleration of the acceleration device from the above-mentioned angular rate generator and acceleration generation calibration process Offset error, scale factor of the acceleration device, input to an acceleration compensation module C 8 1 3, use the acceleration device scale factor to change the input three-axis speed increment voltage value to the actual three-axis speed increment value, use the input The accelerometer installation misalignment and acceleration offset error terms compensate for the deterministic errors in the above-mentioned three-axis speed increments, and Lu outputs the compensated three-axis speed increments to a horizontal leveling speed calculation module C814. In the vector calculation module C 8 1 5, the three-axis angular increments from the above-mentioned angular rate compensation module C 8 1 2 are used, and the eastward damping angular increments from an eastward damping calculation module C 8 1 1 0 are derived from a northbound damping. The northbound damping angle increment of the calculation module C 8 1 9 is derived from a vertical damping angular rate of a vertical damping calculation module C 8 1 8, and a quaternion is updated. Is the number of a vector representing the rotational movement of the carrier in use, quaternion after the update is sent in one direction cosine calculation module Chen C 8 1 6, in order to use the update computation after a quaternion direction cosine matrix. The calculated directional cosine Chen is output to a horizontal acceleration calculation module C814 and an attitude and heading angle extraction module C817 to use the square cosine matrix from the directional cosine Chen meter nose module C 8 1 6 to calculate nose relief and heading angle. .

Page 65 498170 V. Description of the invention (62) The three-axis speed increment after compensation is output to the horizontal leveling speed calculation module C 8 1 4. Among them, the three-axis speed increment from the above-mentioned acceleration compensation module c 8 丨 4 and the direction cosine moment from the above-mentioned direction cosine moment calculation module C816 are used to calculate the horizontal speed increment. The horizontal velocity increment is output to the above-mentioned eastbound damping rate calculation module C8110, wherein the northbound horizontal velocity increment from the above-mentioned horizontal acceleration calculation module ㈡ "is used to calculate the eastbound damping angular rate increment. The horizontal velocity increment is output to the above-mentioned eastbound The damping rate calculation module C 8 1 9 ′ wherein the eastward horizontal velocity increase from the above-mentioned horizontal acceleration calculation module ^^ 8 丨 4 is used to calculate the northward damping angular rate increase.

The heading angle calculated from the above attitude and heading angle extraction module C817 and the measured heading angle from an external sensor C 90 are input to the vertical damping rate calculation module C 8 1 8 to calculate the vertical damping angular rate increment. The easting damping angular rate increment, the northing damping angular rate increment, and the vertical damping angular rate increment are fed back to the above-mentioned alignment rotation vector calculation module C 8 1 to damp the drift of attitude and heading angle errors.

Alternatively, to accommodate the digital ^ axis angular increment actual value and digital three-axis velocity incremental actual value from the angular increment and velocity increment generator C6, as shown in Figure 33®, at a high rate (short cycle) Input the digital three-axis angular increment value from the angular increment and velocity increment generator C6, and the coarse angular velocity offset from the angular rate and acceleration generator setting process, to a cone error compensation module C 8 1 1 'In this cone error compensation module, the three-axis angular increment value and the coarse angular velocity offset input above are used to calculate the cone effect error at a lower rate of 498170. 5. Description of the invention (63) (long cycle) outputs the above three axes The conical effect error and the long-period three-axis angular increment give the angular rate compensation module C 8 1 2. The above-mentioned cone effect error and the three-axis long period angle increment value from the above-mentioned cone error compensation module C 8 1 1 and the angular rate generator installation misalignment angle parameters from the above-mentioned angular rate and acceleration generator calibration process, the fine angular rate The offset error term and the cone correction scale coefficient are input to the above-mentioned angular rate compensation module C 8 1 2 using the input cone effect error, the installation misalignment angle of the angular rate generator, the fine angular rate offset error term, and the circle. Correct the positive scale factor of the taper to compensate the input three-axis long period angle increment value, and output the actual three-axis long period angle increment value to an angle increment from the rotation vector calculation module C815 °. The three-axis speed increment of the speed increment generator C6, and the installation misalignment angle and acceleration offset error of the acceleration device from the above-mentioned angular rate generator and acceleration generation calibration process are input to an acceleration compensation module C 8 1 3, Use the input accelerometer to install the misalignment angular acceleration offset error term to compensate for the deterministic error in the above-mentioned three-axis speed increments and will compensate the subsequent three-axis Degree increment output to a horizontal leveling speed calculation module C814 ° The next module uses the compensated angular increment value from the angular rate compensation module C 8 1 2 and the three-axis speed increment from the acceleration compensation module C 8 1 3 Calculate attitude and heading angle. For the above processing modules, these subsequent processing modules are the same as those described previously. If the temperature compensation method is used, in order to adapt the digital triaxial angular increment voltage value and digital triaxial velocity increment from the angular increment and velocity increment generator C6

Page 67 498170 V. Description of the invention (64) The voltage value, such as the coarse C 8 1 1 at the twentieth high-speed (short cycle) digital triaxial angle incremental generator calibration process, is incorrectly incrementing the voltage at this cone. Value and coarse angular rate (long period) output the incremental voltage value, give a triaxial generation rate deviation, sense the C812 rate of production data; the angle, the change of the above-mentioned bio-voltage value comes from the long-period device standardization Mistakes to the device, the family planning device uses the precise angle input of the incision conversion temperature to induce a pair of the above-mentioned angles to determine the difference term from the input angle of the input angle, when the input rate of the three-degree system into the real characteristics of the quasi-cone increase In the range, the angular input and output are based on the temperature of the circular offset axis length before the temperature. The data error is transferred to a graph. Input voltage, speed, angular difference, and compensation speed are described. The cone effect error period will be compensated on the upper three axes, and the meter, the first value, the rate offset compensation mode, the offset value of the circle roundness compensation value, and the rate of error generated when the teleporter is found should be supplemented by angles. The three axes will be on the 32nd figure of the calculation module and the third angular increment and speed, as well as from an angular speed. In one block, the calculation of the cone effect will be miscompensated for the module C8 and module C81 1 and from the scale system of the biological installer. The actual block C815 is described in the phase angle increment and long period angle after the input of the current temperature angular velocity difference, the angular velocity, and the circular correction cone voltage value of the road C 183. The cone misuses the above-mentioned error error difference and the length of the above-mentioned circle, the above-mentioned angle misalignment angle, the round number temperature angular rate; using the rate of the generator to generate a positive scale; using the three-axis length value, the incremental value of the three cars from the long thirteen As shown. The triaxial angle input by the incremental generator C 6 rate and acceleration production difference compensation module uses the triaxial angular cone effect rate and parameters of the lower speed period, and the cone correction degree signal compensation module calculates the safety coefficient of the temperature device. The angular cycle angle is compensated by the angular rate and the angular rate of the angular block of the temperature block in the angular velocity.

Page 68 498170 V. Description of the invention (65)

The three-axis speed increment voltage value from the angular increment and velocity increment generator C6, and the installation misalignment angle, acceleration offset error, and acceleration scale of the acceleration device from the above-mentioned angular rate generator and acceleration generation calibration process The coefficient, and the digital temperature signal from the input and output interface circuit C 1 8 3 and the scale coefficient of the temperature sensor are input to an acceleration compensation module C 8 1 3 to calculate the current temperature of the acceleration generator; using the calculated acceleration to generate The current temperature of the accelerometer finds the temperature characteristic data of the acceleration generator; the acceleration device scale factor is used to convert the input three-axis speed increment voltage value into the actual three-axis speed increment value; using the input accelerometer installation error, angle The acceleration bias error term compensates for the deterministic error in the above-mentioned three-axis speed increment; the temperature characteristic data of the acceleration generator is used to compensate for the error caused by the temperature change in the three-axis long-period speed increment value, which will compensate the subsequent Three-axis speed increment output to a horizontal leveling speed calculation module C814 〇 Incremental angle after the module using the compensated angular rate compensation module from C 8 1 2 and a three-axis acceleration compensating speed increase from module C 8 1 3 calculated attitude and heading angle. For the above processing modules, these subsequent processing modules are the same as those described previously.

If the temperature compensation method is used, in order to adapt to the actual value of the digital three-axis angular increment and the actual value of the digital three-axis velocity increment from the angular increment and speed increment generator C6, as shown in Figures 21 and 32 As shown in Figure 33, the attitude and orientation processor C 8 1 can be further modified to input the digital three-axis angular increment value from the angular increment and velocity increment generator C6 at a high rate (short cycle). , As well as from the calibration process of an angular rate and acceleration generator.

Page 69 498170 V. Description of the invention (66) The angular velocity offset is to a cone error compensation module C 8 1 1. In this cone error compensation module, the three-axis angular increment value and the coarse angular velocity deviation entered above are used. Set the conical effect error to output the triaxial conical effect error and the long axis triaxial angle increment value at a lower rate (long period), and give an angular rate compensation module C812.

The above-mentioned cone effect error and the three-axis long period angle increment value from the above-mentioned cone error compensation module C 8 1 1 and the angular rate generator installation misalignment angle parameters from the above-mentioned angular rate and acceleration generator calibration process, the fine angular rate The bias error term, the cone correction scale factor, and the digital temperature signal from the output interface circuit C 1 8 3 and the scale factor of the temperature sensor are input to the above-mentioned angular rate compensation module C 8 02 to calculate the angular rate generator. Current temperature; Use the calculated current temperature of the angular rate generator to find the temperature characteristic data of the angular rate generator; Use the input cone effect error, the installation misalignment angle of the angular rate generator, the fine angular rate offset error term, and The positive calibration coefficient of the round calibration cone is used to compensate the three-axis long period angle increment value input above; the temperature characteristic data of the angular rate generator is used to compensate the error caused by the temperature change in the three-axis long period angle increment value, and The above-mentioned actual three-axis long period angle increment value is output to an alignment rotation vector calculation module C 8 1 5.

Three-axis speed increment from the input / output circuit C 65, and the misalignment angle, acceleration offset error, and digital temperature from the input-output interface circuit C 183 from the angular rate generator and acceleration generation calibration process The signal and the scale factor of the temperature sensor are input to an acceleration compensation module C 8 1 3 to calculate the current temperature of the acceleration generator; use the calculated current temperature of the acceleration generator to find the acceleration generator

Page 70 498170 V. The temperature characteristic data of the description of the invention (67); Use the input accelerometer to install the misalignment angular acceleration offset error term to compensate the deterministic error in the above three-axis speed increment; use the temperature of the acceleration generator The characteristic data compensates for errors caused by temperature changes in the three-axis long-period speed increment value, and outputs the three-axis speed increment after compensation to a horizontal leveling speed calculation module C 8 1 4. ^ The following module uses the compensated t + from the angular rate compensation module C 8 1 2 and the delta value and the three-axis speed increment from the acceleration compensation module C 8 1 3, the attitude and the heading angle. For the above processing modules, these subsequent processing are the same as those described previously.

As shown in the thirty-fourth figure, the position speed and attitude processing module C 8 2 includes: a device C8l to a cone error compensation module C8201, which is the same as the cone error compensation module C 8 1 1 for attitude heading processing 1. C8 hard C8 everywhere 1 Angular Rate Compensation Module C 8 2 0 2 This module is the same as the Attitude Heading Processor Scoop Angular Rate Compensation Module C812. . Hard test r alignment rotation vector calculation module [8 2 0 5 ’This module is the same as the angular rate compensation module C 8 1 5 of the attitude bear heading @ C 8 1. The α ^^^ cosine calculation module C8206 is the same as the angular rate compensation module c 8 1 6 at the attitude heading. 1 ^ ζ speed / compensation module C8 2 0 3 ′ This module is the same as the attitude directional processor knife ° speed compensation module C 8 丨 3. ^

The hard leveling speed calculation module C82 04 is similar to the horizontal and leveling speed calculation module c 8 丨 4 ~ of the posture energy heading ~ ^. Two-state of the presenter: again the orientation angle extraction module C8 2 09 ′ This module can perform the attitude of the life command 81 and the orientation angle extraction module C817 ~. Oncidium

Page 71 498170

V. Description of the invention (68) A position speed update module C8208, which receives the level speed calculation module C 8 2 0 4 and calculates the position and speed. ^ Ten plus one Earth and carrier velocity calculation module C82 0 7, which is connected to the position and velocity of the velocity update module C8 2 0 8 to calculate the rotational angular rate of the carrier from the guided I f system to the inertial coordinate system 'and the rotation angle Rate input ^ Rotation vector calculation module C8 2 0 5. + In order to meet the requirements of different application systems, as shown in Figure 29 and Figure 44, according to the format required by external users, such as Rs_ 2 3 2 application communication standard, RS-4 2 2 application communication standard , PCI / ISA bus standard, 1553 bus standard, in the input / output interface circuit C65 and the input / output interface circuit C 305 'assemble digital triaxial angle incremental voltage signals, digital triaxial speed / degree incremental voltage signals, and Digital temperature signal. In order to meet the requirements of different application systems, as shown in Figure 42 and Figure 44, according to the format required by external users, such as rs — 2 3 2 application communication standard, RS-4 2 2 application communication standard , PCI / ISA bus standard, 1553 bus standard, in the input / output interface circuit C65 and the input / output interface circuit C 305, assembling a digital triaxial angle incremental voltage signal, a digital triaxial speed incremental voltage signal, and a digital temperature signal. As mentioned above, one of the key technologies of the present invention to achieve a small I MU is to use a micro angular rate generator. Among them, the micro angular rate generator using M EMS technology and the corresponding mechanical structure and circuit board layout are as follows: One of the key technologies of the invention to achieve a small IMU is to design a small circuit with very low power consumption. Among them, traditional ASIC technology can be used to reduce complex circuits to one chip.

Page 72 498170 V. Description of the invention (69) Existing active inertial mass block rate. Creole. The inertia rate of the Creole and vibration is applied to the harmonic and receives the torque in the Creole direction. The is measured. Creole Gaspard got his Kerry correction set. Cree movement and radial movement use Creole's MEMS technology to make tiny angular rate generators using vibration. Through the Creoles effect, the angular velocity effect of the induction carrier is the working principle of general vibration type angular rate sensors. The effect can be explained as the application of an angular velocity to a translational mass, which produces a Creoles force. When the angular mass of the inertial mass is in the axial direction, the teeth of the inertial mass will have a Reese force. This Creoles force produces a torque along the sensor axis that is proportional to the applied angular velocity. Furthermore, the angular rate cosmic force or acceleration is named after the French physicist and mathematician, who faked Creoles (1792-1843 Orris force in 1835) as the effect of Orris acceleration on the rotation of the earth during the ballistic calculation. On an object moving at a fixed angular velocity around a point. The basic equation of Sri Lankan force can be expressed as triolis ma

Coriolis 2τη {ώ x V0scillation) where, jin— · is the detected Creoles force; claw is the mass of the inertial mass; is the resulting Creoles acceleration; 6 is the input angular velocity; is the inertial mass Oscillating speed · The resulting Creoles acceleration is proportional to the mass of the inertial mass

Page 73 498170 V. Description of the invention (70) The product of the input angular velocity and the oscillation speed of the inertial mass. The direction of the oscillating speed of the inertial mass is orthogonal to the direction of the input angular velocity. The main problems with vibration-type rate generators are poor accuracy, sensitivity, and stability. Unlike the ME MS acceleration generator, which is a passive device, the micromechanical vibration-type angular rate generator is an active sensor. Therefore, corresponding high-performance circuits and controls should be invented in order to more effectively use the existing micro-mechanical vibration-type angular rate generators to achieve high-performance angular rate measurements to meet the needs of small I M U. therefore. In order to obtain the angular rate sensitive signal of the vibration-type angular rate detection unit, the vibration drive signal must first be fed into the vibration-type angular rate detection unit in order to drive the vibration of the inertial mass and maintain the constant momentum of the inertial mass. The quality of the vibration drive signal is key to the overall performance of a MEMS angular rate generator. As shown in Fig. 35 and Fig. 36, a perspective view and a sectional view showing the mechanical structure and the circuit board layout of the small inertial measurement module of the present invention shown in Fig. 32, respectively. The small inertial measurement unit includes a first circuit board C2, a second circuit board C4, a third circuit board C7, and a control circuit board C9 arranged in a metal regular hexahedron C1. The first circuit board C1 is connected to the third circuit board C7, and generates X-axis angular velocity-sensitive signals and y-axis acceleration-sensitive signals to the control circuit board C9. The second circuit board C4 is connected to the third circuit board C7, and generates a Z-axis angular rate sensitive signal and an X-axis acceleration sensitive signal to the control circuit board C9. The third circuit board C7 is connected to the control circuit board C9, and generates a Z-axis angular velocity-sensitive signal and a Z-axis acceleration-sensitive signal to the control circuit board C9.

Page 74 498170 V. Description of the invention (71) The control circuit board C9 is known through the third circuit, and the white circuit board is connected to the first circuit board C2 and the first circuit board C2. X, Y, and Z axis angles of the coin C4 and the third circuit board C7

Semi-sensitive signals and X-, γ-, and 7-axis acceleration-sensitive signals in order to generate digitally-increased angle increments, i-acoustic measurements, position, velocity, attitude, and heading measurements. 1 As shown in the thirty-seventh figure, the angular rate generator C5, which is the preferred solution of the small penetrative inertia measurement module of the present invention, includes: ^ ^ An X axis connected to the first circuit board C 2 Vibration-type angular velocity C21 and first front-end circuit C23; Gan Huai, "early tl-connected to the Y-axis vibration-type angular rate detection C41 and second front-end circuit C43 of the second circuit board C4; '-connected to the third circuit board C7 Z-axis vibration type angular rate detection unit C71 and third front-end circuit C73; three angular signal circuit circuits C921, which are respectively set for the first circuit board C2, the first circuit board C4, and the second circuit board C7, including In the 831 (: chip 092) connected to the control circuit board 09, &amp; three vibration control circuits C 9 2 2 are respectively the first circuit board C2, the second circuit board C4, and the third circuit board C7. The setting is included in the 8 8 1 (: chip 0 92) connected to the control circuit board C9; an oscillator C925 is used for the X-axis vibration type angular rate detection unit C21, the Y-axis vibration type angular rate detection unit C4 1, Z-axis vibration-type angular rate detection unit C71, angular signal circuit C921, and vibration control Circuit C 9 2 2 provides a reference pickup signal; three vibration processing modules C 9 1 2 are the first circuit board C 2 and the second

Page 75 498170 V. Description of the invention (72) The circuit board C4 and the third circuit board C7 are arranged and run in a DSP (digital signal processor) chipset C91 connected to the control circuit board C9. The first front-end circuit C23, the second front-end circuit C43, and the third front-end circuit C 7 3 are structurally identical, and are used to organize the output signals of the X, γ, and z-axis vibration type angular rate detection units, respectively. Each front-end circuit includes: an impedance conversion amplifier circuit C231, C431, and C731, respectively connected to the corresponding X, Y, and Z-axis vibration-type angular rate detection units C 2 1, C 4 1 and C 7 1 for vibration The impedance of the motion signal is converted from a very high level, greater than 100 megaohms, to a low impedance, less than 1000 ohms, in order to obtain two vibration displacement signals, which represent the displacement between the inertial mass and the pin comb. cross

Current voltage signal, these two vibration displacement signals are input to the vibration control circuit C9 2 2; a high-pass filter circuit C2 3 2, C43 2 and C7 3 2 are connected to the corresponding X, Y, Z axis vibration type angles The rate detection units C 2 1, C 4 1 and C 7 1 are used to remove residual vibration driving signals and noise from the vibration displacement differential signals so as to form filtered vibration displacement differential signals to the angular signal loop circuit C921 〇X, Y, The Z-axis vibration-type angular rate detection units C21, C41, and C71 are identical in structure except that their sensitive axes are arranged orthogonally. The X-axis vibration type angular rate detection unit C 2 1 is used to detect the angular rate of the carrier along the X axis, and the Y axis vibration type angular rate detection unit C 2 1 is used to detect the angular rate of the carrier along the Y axis.

Z-axis vibration-type angular rate detection unit c 2 1 is used to detect the angular velocity of the carrier along the Z-axis. 0 X, Y, and Z-axis vibration-type angular rate detection units C 2 1, C 4 1 and C 7 1 are all

Page 76 498170 V. Description of the invention (73) Vibration-type device, including at least one set of vibrating inertial mass, including tuning tuning fork and corresponding supporting structure and device, such as capacitive signal readout device, and using Creoles The effect detects the angular rate of the carrier. Each X, Y, and Z-axis vibration-type angular rate detection units C21, C41, and C71 receive the following signals: (1) a vibration drive signal from a vibration control circuit C 9 2 2 so as to maintain the vibration of the inertial mass; (2) Carrier reference oscillation signal from vibrator C925, including capacitive readout excitation signal. The X, Y, and Z-axis vibration-type angular rate detection units C21, C41, and C71 use the kinetics (Clioris force) to detect the X, γ, and Z axis angular rates of the carrier, respectively, and output the following signals: (1) caused by the angular rate The signal includes the angular rate displacement signal modulated on the carrier reference oscillation number 4 Lu '. This signal is output to the high-pass filter circuits C232, C432, and C 7 3 2 of the first, second, and third front-end circuits C23, C43, and C73; (2) The vibration signal of the inertial mass includes a vibration displacement signal, and the signal is output to the impedance conversion amplifier circuits C231, C431, and C731 of the first, second, and third front-end circuits C23, C43, and C73; three vibration control circuits C 9 2 2 Receive the vibration displacement signals from the inertial masses of the X, Y, and Z-axis vibration-type angular rate detection units C21, C41, and C71, and the reference pickup signal from the oscillator C 9 2 5 to generate inertia with a known phase The displacement signal of the mass. In order to convert the angular rate detection unit C21 from the X, Y, and Z axis vibration type,

Page 77 498170 V. Description of the invention (74) ^^-The vibration displacement signals of the inertial masses of C 4 1 and C 7 1 are converted into the vibration displacement signals of the inertial masses that are easy to produce j, as shown in Figure 42. As shown, the control circuit C9 22 includes: 'An amplifier and an adder circuit C 9 2 2 1 connected to the first, second, and third front-end circuits C23, C43, and C73 impedance conversion amplifier circuits ㈡, C4 3 1 and C73 1. Amplify the two-way vibration displacement signals by more than ten times to improve sensitivity. By subtracting y7 from the signal of the center anchor comb and the signal of the side anchor comb to combine the two-way vibration displacement 彳 ㊂ 'to form the vibration displacement. Differential signal; a high-pass filter circuit C 9 2 2 2 connected to the amplifier and adder circuit C 9 2 2 1 to remove the residual vibration from the vibration-displacement differential signal | zone motion signals and noise, resulting in filtered Vibration displacement differential signal; a demodulator circuit C 9 2 2 3 is connected to the high-pass filter circuit C 9 2 2 2 to receive a capacitor detection excitation signal from the oscillator C 9 2 5 as a phase reference signal from the high-pass Filter C 9 2 2 2 Receive Filter And the in-phase portion of the filtered, vibration-differential differential signal is used to generate the displacement signal of the inertial mass of a known phase; a low-pass filter C 9 2 2 5 is connected to the demodulation Circuit c 9 2 2 3 to remove high frequency noise from the input inertial mass block displacement signal to form a low frequency inertial mass block displacement signal; an analog / digital converter C 9 2 2 4 connected to a low-pass filter C 9 2 2 5 'is used to convert the analog low-frequency inertial mass block displacement signal into a digitalized low-frequency inertial mass block displacement signal and output it to the vibration processing module C912; a digital-to-analog converter C 9 2 2 6 Module

Page 78 498170 V. Description of the invention (75) C9 1 2 The selected signal amplitude is processed to form a vibration drive signal with the correct amplitude. An amplifier C9227 generates and amplifies vibration drive signals for the X, Y, and Z-axis vibration-type angular rate detection units, C41, and C 71 based on vibration drive signals of the correct frequency and amplitude. The vibration of the inertial masses in the X, Y, and Z-axis vibration-type angular rate detection units C2i, C41 & C7i is driven by a high-frequency sinusoidal signal with a precise amplitude. The vibration-driven oscillating number of the local performance provided to the X, γ, and z-axis vibration-type angular rate detection units C21, c41, and C 7 1 plays a very important role in the sensitivity and stability of the X, γ, and Z-axis angular rate measurements. . The vibration processing module C912 receives a digital low-frequency inertial mass block displacement signal of known phase from the analog / digital converter C9 2 2 4 of the vibration control circuit ⑺, in order to: '(1) search for the highest quality factor (q) value (2) lock the frequency; (3) lock the amplitude to generate a vibration drive signal, including a high-frequency sinusoidal signal with precise amplitude, for X, Y, and z-axis vibration-type angular rate detection sheets = C2 1, C41, and C71 in order to make the inertial mass vibrate at a predetermined resonance frequency. The vibration processing module C912 searches and locks the χ, γ, and z-axis vibrations, and detects the vibration frequency and amplitude of the inertial mass of the units C21 and C41AC71. The low-frequency invariant Ke 槪 e ^ A 4 ^ 1-member modified Ϊ block displacement signal is first expressed in the frequency spectrum by discrete fast Filie transform. Shaped discrete fast Fourier transform Effective calculation of transformation

Page 79 ㈣170 V. Description of the invention (76) Continuous signal / ir ^ It greatly reduces the amount of computation of the discrete Fourier transform. Discrete Fourier transform, the Fourier transform used to approximate the discrete signal. ^ ^ "The Chang Lie transform or spectrum is defined as: ^ 〇 * α &gt;) = Γ x (t) e ^ i〇) tdt The discrete Fourier transform of N samples of the discrete signal X (nT) is given by Given by the formula: -j (〇Tnk χ ^ ω) ^ γ ^ χ {ηΤ) β where a = 2; r / iv: r, τ is the inner sampling time interval. The essence of FFT is to distinguish the differences that are superimposed together. Waves of frequency. After the digital low-frequency inertial mass block displacement signal is expressed on the frequency spectrum by discrete fast Fourier transform, Q analysis is applied to the frequency spectrum in order to determine the frequency with the global maximum Q value. Lock the X, Y, and Z axes The inertial mass of the vibration-type angular rate detection units C21, C41, and C71 vibrate at a frequency with a global maximum Q value, which can reduce power consumption and eliminate many factors that affect the excitation mode. The Q value is the basic geometric scale and material of the inertial mass. A function of characteristics and environmental conditions. A phase-locked loop and digital-to-analog converter are further used to control and stabilize the selected frequency and amplitude. As shown in Figure 44, the vibration processing module C 912 further includes a discrete fast Fourier Transform (FFT) module C 9 1 2 1, of a frequency and amplitude of the data storage array module c 9 1 2 2, a

Page 80 4981 / υ, invention description (77) value detection logic module ㈢ 丨 23 and a Q value analysis and selection logic module C9124 in order to find the frequency with the largest Q value. Fast Fourier Transform, a pole block C9121 'Transforms the analog from the vibration motion control circuit ㈢' into a C 9 2 2 4 digitized low-frequency inertial mass block displacement letter = 'to form the input inertial mass Amplitude data on the frequency amplitude of the block shift signal 0 The frequency and amplitude data storage array module C 9 1 2 3 receives the amplitude and spectrum data, so as to form an array of amplitude and spectrum data.

The maximum value detection logic module C 9 1 2 3, in the future, the frequency spectrum of the frequency array from the amplitude and spectrum data is divided into some frequency bands, and the frequency with the largest amplitude is selected from the local frequency spectrum. The Q value analysis and selection logic module c 9 丨 2 4 performs Qjt analysis on the selected frequency. By calculating the ratio of the amplitude and the frequency band width, the frequency and the field degree are selected. Among them, the frequency band width for calculation is between plus and minus one-half of the maximum value of each maximum frequency point. Further, the vibration processing module C912 includes a phase-locked loop C9 125, which is used as a very narrow band-pass filter to exclude noise of a selected frequency, and to generate and lock a vibration driving signal of the selected frequency.

The three angular signal loop circuits C 9 2 1 receive signals caused by the angular rate from the X, Y, and Z-axis vibration-type angular rate detection units C21, C41, and C71, and a reference pickup signal from the oscillator C925, which causes the angular rate The signal is replaced by an angular rate signal. As shown in the thirty-third figure, each of the angular signal loop circuit c 921 of the first circuit board C2, the second circuit board C 4, and the third circuit board c 7 includes 921 packets.

498170 V. Description of the invention (78) Contains: A voltage amplifier circuit C 9 2 1 1 to amplify the filtered angular rate from the corresponding first, second and third front-end circuits C23, C43, C73 high-pass filter circuit C232 The induced signal is at least 1000 millivolts to form an amplified angular rate induced signal; an amplifier and adder circuit C 9 2 1 2 is used to extract the difference in the amplified angular rate signal to Generate a differential angular rate signal; two demodulator C 9 2 1 3, connected to the amplifier and adder circuit c 9 2 丨 2, with = from the differential angular rate signal and from the oscillator c 9 2 5 The capacitive readout excitation signal 'extracts the amplitude of the in-phase differential angular rate signal;

A low-pass filter C 9 2 1 4 is connected to the demodulator c 9 2 丨 3 to remove the high-frequency noise of the amplitude signal of the in-phase differential angular rate 差 to form the angular 形成 rate signal and output it to the angular amplifier. Amount and speed increment generator C6. As shown in Figures 29 and 30, the acceleration generator C10 of the preferred scheme of the small inertial whisker X component of the present invention includes: an X-axis accelerometer C42, which is located above the second circuit board and is The angular increment and speed increment generator of the AS 1C chip C92 in the circuit board C9 are connected; ° —Y-axis accelerometer C22, which is located on the first circuit board C2 and is connected to the angle of the ASIC chip C92 in the circuit board C9 Increment and velocity increment production ;; connected; L 0-Z-axis accelerometer C72, which is located on the third circuit board C7 and the angular increment and velocity increment generator of the AS 1C chip C92 in the circuit board C9 ^ System connected. w

Page 82 498170 V. Description of the invention (79) As shown in the twentieth, thirty-sixth and thirty-seventh figures, the heat sensitive generator step of the preferred solution of the small inertial measurement component includes: the first heat The sensitive generating unit C24 is used to sensitively detect the temperature of the X-axis vibration type detecting unit C 2 1 and the Y-axis accelerometer c 2 2; the second thermal sensitive generating unit C44 is used to sensitively detect the gamma-axis vibration type rigid unit C 4 1 and The temperature of the X-axis accelerometer c 4 2; ^ Three thermal-sensitive generating unit C74 is used to sensitive the Z-axis vibration type double &lt; then the unit C 7 1 and the Z-axis accelerometer (; 7 2 temperature; as shown in Figure 20) As shown in FIG. 37, the small-sized, a-piece heater c 2 〇 of the present invention further includes: C2 a first heater C25, which is related to the X-axis vibration type angular rate detection unit X red: Y The axis accelerometer C22 is connected to the first front-end circuit C23, and the terminal # vibration-type angular rate detection unit (21, the predetermined operating temperature of the gamma axis accelerometer C22 and the circuit C23; C41, 5 :: 口 ί ΞC? 5 ' The dagger is connected to the y-axis vibration type angular rate detection single y-axis # speed meter C42 and the second front-end circuit C43. Electrical vibration angular rate detection unit ^ 1, the predetermined operating temperature of the x-axis accelerometer C42 and the circuit C43; The three front-end circuits C73 are connected, and the terminal electrical angular rate detection unit ⑺, the Z-axis accelerometer m, and the predetermined working temperature of the wide path C 7 3 are shown in Fig. 20, 29, 30, and Thirty-three inventions of this invention-angular rate angular rate angular rate inertial measurement unit to maintain the first pre-element to maintain the second pre-element to maintain the third pre-nine graph and

Page 83 498170 V. Description of the invention (80)-a picture of ten, the heat of the preferred solution of the small inertial measurement module of the present invention further includes the same thermal control circuit C9 2 3 and the chipset C 9 1 Thermal control calculation module c 9 i J. As shown in Figure 37 and Figure 43, each thermal control circuit L 9 "further includes: a first amplifier circuit C 9231, which is sensitive to the corresponding X, γ, and z axes to generate the saponin C24 , C44 and C74 are connected to amplify the signals from the corresponding 乂, 口, and ，, the heat-sensitive generating units C 24, C44, and C 74 and compress the σ sounds among them to improve the signal-to-noise ratio; C 9 2 3 2 is connected to the amplifier circuit il l, and is used to sample the temperature voltage signal, and digitize the sampled temperature voltage signal into a digital signal, and output it to the thermal control calculation module c 9 1 ^. R pseudo converter C 9 2 3 3, used to calculate the digital temperature instruction of the self-heating control block C9 U in the future, and convert it into an analog signal; the analog circuit C92 34 is used to receive and amplify the digital analog conversion benefit C 9 2 3 3 analog signals in order to drive the corresponding first, second, and second heaters C25, $ 45, C75 and closed temperature control loop. &Amp; number = = two blocks C911 uses the analog / digital converter C9233, temperature calibration coefficients and predetermined The above angular speed ί fi ί ΐ Wei Zuo temperature, to calculate the digital temperature command, and send the = digital temperature command to a digital / analog converter c92 33. In order to obtain a high-performance, full-function small IMU, the Xiaoguang t "生 测 j A preferred packaging method of the first circuit board ^, the second circuit board C4, the second circuit board C7, and the control circuit board C9 is as follows:

Page 84 498170 V. Description of the invention (81): The small conventional resin of the thirtieth invention uses the third electric-based resin to replace the first line with C4 and control C7 as the road board C9 resin and The sound level velocity makes the third electric sentence internally connected to the circuit size. There are a total of five knots formed with the third supporting junction and the hot ladder. The first measurement group circuit board C7 is bonded to the circuit board C2 and the circuit board C7 is bonded. With this board C9 and the first connection board, the first circuit board C7 is factored. Formation energy formation. In addition, as shown in Figure 31 and Figure 32, in the preferred scheme of this piece, a conductive epoxy group is used to connect the mobile support structure, and a non-conductive epoxy, a second circuit board C4, and a control circuit board are used. C 9 is connected flat. The first circuit board C2, the second circuit board C3, and the third circuit board C7 are bonded together. The third circuit board is used to avoid the need for internal connection wires. The circuit board C2, the second circuit board C4, and the control circuit are assembled A circular shape, so that the conductive epoxy is a continuous ground. This can reduce the electronic noise, and this assembly method can also reduce the variation due to the added I M U misalignment angle.

498170 Schematic illustration of the diagram does not explain the first diagram: is a block diagram showing the first, second, third, fourth, and fifth aspects of the preferred implementation of the present invention according to the preferred implementation of the present invention. The seventh present party in the sixth case, the eighth, second, and ninth cases, the tenth plan, the tenth plan, the tenth plan, and the tenth non-disruptive positioning method and system (Figure: is a block diagram showing the upper alternative mode. Figure : Shows pure INS and auxiliary INS diagrams: shows temperature-induced MEMS diagrams: is a block diagram showing an autonomous \ non-disruptive diagram based on the main IMU: is a block diagram showing a speed-dependent generator. : Is a block diagram showing the processing module diagram of the navigation processor in this case: is a block diagram showing the upper alternative mode. Figure: is a block diagram showing the location of the navigation processor including DGPS: A block diagram showing a processing module based on inertial navigation processing. A figure: is a block diagram showing the processing of an excellent magnetic flux valve according to the present invention described above. The above-mentioned processing of the superior Doppler radar of the present invention. Figure 3 is a block diagram showing the characteristic comparison according to the above-mentioned superiority of the present invention. The angular velocity sensor error is based on the above-mentioned preferred positioning module of the present invention. The second aspect of the present invention is preferably implemented according to the above-mentioned present invention. The preferred features of the present invention are as described above. The implementer implements the preferred solution.

Page 86 498170 Illustration of the relative position of the scheme. Figure 14: Kalman for the scheme. Figure 15: For the graph. Sixteenth figure · The middle fuzzy search for the seventeenth figure: the forming estimator for the eighteenth figure: the complete shaping for the nineteenth figure: the small customary scheme for the solution Set measurement calculations. A block diagram showing the nosepiece of a preferred implementation of an oscillating wave device in accordance with the present invention. The new processing flow of the in-flight blurring technology of the present invention. The processing module of the twentieth pattern. Figure 22: The angular increment and velocity generator of the case are lost. The 23rd graph: The other angular increment and acceleration of the case are generated. Twenty-four pictures: According to the Benson strategy, according to this process, according to this estimator, a block measurement shows the corresponding display and the corresponding display of the speed increase voltage, the amount of display, and the output of the speed device. Invent flight chart. Invent the form of flight. The figure shows the location of the component. The small thermal control area of the invention. The thermal compensation of the invention. The quantity generator signal of the invention. The incremental voltage signal of the present invention is a new processing process of the medium fuzzy solution technology of the present invention. A new processing process of the medium fuzzy solution technology of the present invention implements the preferred implementation of the processing module according to the invention described above. Preferred inertial measurement module. The preferred processing module for small inertial measurement components. Preferred method for small inertial measurement components, used to process rate generators and preferred generators for small inertial measurement components, used to handle angular rate generators 0 Preferred methods for small inertial measurement components

Page 87 498170 The diagram simply illustrates another angular increment and velocity increment generator of the scheme, which is used to process the output voltage signals of the angular rate generator and the acceleration generator. Figure 25: It shows another angular increment and velocity increment generator of the preferred embodiment of the small inertial measurement module of the present invention, which is used to process the output voltage signals of the angular rate generator and the acceleration generator. Twenty-sixth figure: A thermal processor showing a preferred embodiment of the small inertial measurement module of the present invention for processing an analog voltage signal output from a thermally sensitive generator. Twenty-seventh figure: shows another preferred thermal processor of the small inertial measurement module of the present invention, which is used to process the analog voltage signal of the thermally sensitive output. Figure 28: Another thermal processor showing a preferred embodiment of the small-scale inertial measurement module of the present invention is used to process an analog voltage signal of a thermally sensitive output. Figure 29: A processing module showing a preferred embodiment of the small inertial measurement module of the present invention. Figure 30: A temperature digitizer showing a preferred solution of the small-scale inertial measurement module of the present invention, which is used to process the analog voltage signal output by the heat-sensitive generator. Figure 31: A preferred method of the small inertial measurement module of the present invention is shown

Page 88 498170 Schematic description Another temperature digitizer is used to process the analog voltage signal output by the thermal sensitive generator. Figure 32: A processing module and a corresponding thermal compensation processing module of the preferred embodiment of the small inertial measurement module of the present invention are shown. Figure 33: The attitude and heading processing module showing the preferred scheme of the small inertial measurement module of the present invention. Figure 34: A position velocity attitude and heading processing module showing a preferred solution of the small inertial measurement module of the present invention.

Figure 35: A perspective view showing the mechanical structure and circuit board layout of the preferred embodiment of the small inertial measurement module of the present invention. Figure 36: A cross-sectional view showing a preferred embodiment of the small-scale inertial measurement module of the present invention. i Figure 37: A connection diagram between four internal circuit boards of the preferred solution I of the small inertial measurement module of the present invention. i Fig. 38: A block diagram showing the front-end circuits of the first, second, third, and fourth circuit boards of the preferred embodiment of the small inertial measurement module of the present invention. Figure 39: A block diagram showing an AS 1C chip of the third circuit board of the preferred embodiment of the small inertial measurement module of the present invention.

Figure θ10: shows the processing module running in the DSP chipset of the third circuit board of the preferred scheme of the small inertial measurement module of the present invention. Fig. 41 is a block diagram showing an angular signal loop circuit of an ASIC chip of a third circuit board of a preferred embodiment of the small inertial measurement module of the present invention.

Page 89 498170 Brief description of the drawings Figure 42: A block diagram showing a dithering motion control circuit of the ASIC chip of the third circuit board of the preferred embodiment of the small inertial measurement module of the present invention. Fig. 43 is a block diagram showing the thermal control circuit of the AS IC chip of the third circuit board of the preferred embodiment of the small inertial measurement module of the present invention. Forty-fourth figure: A dithering motion processing module running in the DSP of the third circuit board of the preferred embodiment of the small inertial measurement module of the present invention is shown.

Chapter 90

Claims (1)

498170 VI. Scope of patent application 1. An autonomous \ non-disruptive positioning system for users on the surface of the earth, including: an autonomous \ non-disruptive positioning module based on the main IMU, which is used to sensitively measure the motion of the user and generate The user's autonomous \ non-disruptive positioning data; a positioning assistance device providing interruptible positioning data to assist the autonomous \ non-disruptive positioning module to achieve the purpose of improving the user's autonomous \ non-disruptive positioning data; A wireless communication device for exchanging improved user-independent non-disruptive positioning information with other users; A map database providing map data, and accessing the map database with the user's autonomous \ non-disruptive positioning information to obtain location and surrounding environment information; and a display device using the surrounding environment information to display the User autonomous \ non-disruptive positioning data. 2. The autonomous \ non-disruptive positioning system as described in item 1 of the scope of patent application, wherein the autonomous \ non-disruptive positioning module based on the main IMU includes: an inertial measurement component IMU to measure the user's motion, corresponding to The user movement generates digital angular increment and speed increment signals; a north seeker to generate a heading measurement of the user; A speed generator to generate speed data of the user in the body system; a navigation processor connected to the inertial measurement component, the north seeker, the speed generator, and the positioning assistance device, To receive the Page 91 498170 VI. Patent application scope Digital angle increment and speed increment signal, the heading measurement, the speed data in the body system, and the interrupted positioning data from the positioning assistance device in order to generate IMU position, speed, and attitude, and the optimal error estimates of the IMU position, speed, and attitude, are used to correct IMU position, speed, and attitude data errors to output modified IMU position, speed, and attitude data By. 3. The autonomous \ non-disruptive positioning system according to item 2 of the scope of the patent application, wherein the autonomous \ non-disruptive positioning module based on the main IMU further includes an altitude measuring device to generate the user height measurement, Forming the average sea level height of the user. 4. The autonomous \ non-disruptive positioning system according to item 3 of the scope of patent application, wherein the navigation processor uses an inertial navigation processing module to generate the IMU position, velocity, and attitude, and uses an optimal crossing wave The module generates an optimal error estimator of the IMU position, velocity, and attitude. 5. The autonomous \ non-disruptive positioning system as described in item 4 of the scope of the patent application, wherein the navigation processor provides a combined Kalman filter to estimate and compensate for I NS error and sensor error. 6. The autonomous \ non-disruptive positioning system according to item 2 of the scope of the patent application, wherein the north finder is a magnetic sensor sensitive to the earth's magnetic field to measure the heading angle of the user. 7. The autonomous \ non-disruptive positioning system described in item 3 of the scope of patent application, wherein the north finder is a magnetic sensor, including a magnetic flux valve and a magnetic flux meter, to measure the user with a sensitive earth magnetic field The heading angler. 8. Autonomous \ non-disruptive positioning system as described in item 2 of the scope of patent application Page 92 498170 6. The scope of patent application system, wherein the speed generator is used to generate the speed measurement of the user relative to the ground, based on the principle of Doppler effect, and sensitive Doppler frequency shifter. 9. The autonomous \ non-disruptive positioning system as described in item 2 of the scope of patent application, wherein the speed generator is used to generate the speed measurement of the user relative to the ground, based on the principle of the Doppler effect, and the sensitive Doppler frequency Mover. 10. The autonomous \ non-disruptive positioning system as described in item 7 of the scope of patent application, wherein the speed generator is used to generate a speed measurement of the user relative to the ground, based on the principle of Doppler effect, and a sensitive Doppler frequency Mover. 11. The autonomous \ non-disruptive positioning system as described in item 10 of the scope of patent application, wherein the speed generator is a high-frequency speed generator, including a radar. 12. The autonomous \ non-disruptive positioning system according to item 10 of the scope of patent application, wherein the speed generator is an acoustic speed generator, including a sonar. 13. The autonomous \ non-disruptive positioning system as described in item 10 of the scope of patent application, wherein the speed generator is a laser speed generator, including a laser radar. 14. The autonomous \ non-disruptive positioning system according to item 1 of the scope of the patent application, wherein the positioning assistance device includes a GPS receiver connected to the navigation processor and receiving GPS high-frequency signals to generate GPS Positioning data is provided to the navigation processor in order to improve the autonomous \ non-disruptive positioning data when GPS signals are available. 15. The autonomous \ non-disruptive positioning system according to item 2 of the scope of patent application, wherein the positioning assistance device includes a GPS receiver connected to 498170 6. Scope of patent application The navigation processor receives GPS high-frequency signals to generate GPS positioning data to the navigation processor, in order to improve the autonomous \ non-disruptive positioning data when GPS signals are available. 16. The autonomous \ non-disruptive positioning system described in item 3 of the patent application scope, wherein the autonomous \ non-disruptive positioning system described in item 1 of the patent application scope, wherein the positioning assistance device includes a GPS The receiver is connected to the navigation processor and receives GPS high-frequency signals to generate GPS positioning data to the navigation processor. In order to improve the autonomous \ non-disruptive positioning data when GPS signals are available. 17. The autonomous \ non-disruptive positioning system according to item 6 of the scope of patent application, wherein the positioning assistance device includes a GPS receiver connected to the navigation processor to receive GPS high-frequency signals to generate GPS positioning data is provided to the navigation processor, in order to improve the autonomous \ non-disruptive positioning data when GPS signals are available. 18. The autonomous \ non-disruptive positioning system according to item 8 of the scope of the patent application, wherein the positioning assistance device includes a GPS receiver connected to the navigation processor and receiving GPS high-frequency signals to generate GPS Positioning data is provided to the navigation processor in order to improve the autonomous \ non-disruptive positioning data when GPS signals are available. 19. The autonomous \ non-disruptive positioning system as described in item 10 of the scope of patent application, wherein the positioning assistance device includes a GPS receiver connected to the navigation processor to receive GPS high-frequency signals to generate GPS positioning data is provided to the navigation processor, in order to improve the autonomous \ non-disruptive positioning data when GPS signals are available. Page 94 498170 VI. Patent application scope-An INS calculation module uses the digital angular increment and velocity increment signals from the IMU to generate inertial positioning measurements; an integrated Kalman waver, estimates the inertial positioning Measurement error to correct inertial positioning error; a magnetic sensor processing module to generate a heading angle; a speed generator processing module to generate a relative position error measurement for the Kalman filter; an altitude measurement measurement processing module to use The height measurement forms the data type of the average altitude. 28. The autonomous \ non-disruptive positioning system as described in item 27 of the scope of patent application, wherein the INS calculation module further includes: a sensor compensation module to correct the digital angular increment and velocity incremental signals. Error; and an inertial navigation algorithm module to calculate I NS position, velocity, and attitude data. 29. The autonomous \ non-disruptive positioning system described in item 28 of the scope of patent application, wherein the inertial integration module includes: an attitude integration module for integrating the angular increment into the attitude data; A speed integration module that converts the measured speed increase into a suitable navigation coordinate system through the use of attitude data, wherein the converted speed increase is integrated into the speed data; and a position integration module uses Those who integrate the speed data of the navigation system as the position data. Page 96 498170 VI. Application for patent scope 20. The autonomous \ non-disruptive positioning system as described in item 14 or item 15 of the patent application scope, wherein the positioning assistance device further includes a data link to Those who receive the GPS positioning data from a GPS reference point and perform differential GPS positioning. 2 1. The autonomous \ non-disruptive positioning system according to item 1 of the scope of patent application, wherein the positioning assistance device is a high-frequency positioning system based on the wireless communication device. 22. The autonomous \ non-disruptive positioning system according to item 2 of the scope of patent application, wherein the positioning assistance device is a high-frequency positioning system based on the wireless communication device. 23. The autonomous \ non-disruptive positioning system according to item 3 of the scope of patent application, wherein the positioning assistance device is a high-frequency positioning system based on the wireless communication device. 24. The autonomous \ non-disruptive positioning system according to item 6 of the scope of patent application, wherein the positioning assistance device is a high-frequency positioning system based on the wireless communication device. 2 5. The autonomous \ non-disruptive positioning system according to item 8 of the scope of patent application, wherein the positioning assistance device is a high-frequency positioning system based on the wireless communication device. 2 6. The autonomous \ non-disruptive positioning system according to item 10 of the scope of patent application, wherein the positioning assistance device is a high-frequency positioning system based on the wireless communication device. 27. The autonomous \ non-disruptive positioning system described in item 3 of the scope of patent application, wherein the navigation processor further provides: 498170 VI. Patent application scope 30. The autonomous \ non-disruptive positioning system as described in item 29 of the patent application scope, wherein the speed generator processing module further includes: a transform module for transforming the input representation The input speed in the machine system is the speed indicated in the navigation coordinate system; a scale factor and misalignment error compensation module for compensating the scale coefficient and misalignment error in the speed measurement; and a relative position calculation module To receive the IMU speed and attitude data and the compensated speed to form the relative position measurer for the Kalman filter. 3 1. The autonomous \ non-disruptive positioning system described in item 30 of the scope of patent application, wherein the combined Kalman filter includes: a motion test module to determine whether the user automatically stops; a GPS An accuracy monitor to determine whether the GPS data is available; a measurement and time-varying matrix forming module for determining the user's motion state from the exercise test module and the GPS accuracy monitor GPS availability to form the measurements and time-varying matrix for the state estimation module; and a state estimation module to filter the measurements and obtain the optimal estimate of the IMU positioning error, including I MU position Error, speed error, and attitude error. 32. The autonomous \ non-disruptive positioning system described in item 31 of the scope of patent application, wherein the state estimation module provides a horizontal filter-to obtain the estimation of the horizontal I MU positioning error, a vertical filter A first obtains the estimator of the vertical IMU positioning error. Page 97 498170 VI. Patent application scope 33. The autonomous \ non-disruptive positioning system as described in item 32 of the patent application scope, wherein the motion test module provides: a speed generator change test module for receiving A reading of the speed generator to determine whether the user stopped or restarted; a system speed change test module to compare changes in system speed between the current and the previous cycle to determine whether the user stopped Or restart; a system speed test module to compare the amplitude of the system speed with a predefined value to determine whether the user stopped or restarted; and An attitude change test module is used to compare the amplitude of the system attitude with a predefined value to determine whether the user stopped or restarted the user. 3 4. The autonomous \ non-disruptive positioning system as described in item 7 of the scope of the patent application, wherein the navigation processor further provides: an INS calculation module that uses the digital angular increment and Velocity increment signal to generate inertial positioning measurement; an integrated Kalman filter to estimate the inertial positioning measurement error to correct the inertial positioning error; a magnetic sensor processing module to generate a heading angle; A speed generator processing module is configured to generate a relative position error measurement for the Kalman filter; an altitude measurement measurement processing module is configured to use the height measurement to form the average altitude and the data type. Page 98 498170 VI. Patent application scope 35. The autonomous \ non-disruptive positioning system described in item 34 of the patent application scope, wherein the INS calculation module further includes: a sensor compensation module to correct the number The error of the angular increment and velocity increment signals; and an inertial navigation algorithm module to calculate the I NS position, velocity, and attitude data. 36. The autonomous \ non-disruptive positioning system as described in item 35 of the scope of patent application, wherein the inertial integration module includes: an attitude integration module for integrating the angular increment into the attitude data; A speed integration module that converts the measured speed increase into a suitable navigation coordinate system through the use of attitude data, wherein the converted speed increase is integrated into the speed data; and a position integration module uses Those who integrate the speed data of the navigation system as the position data. 3 7. The autonomous \ non-disruptive positioning system as described in item 36 of the scope of patent application, wherein the speed generator processing module further includes: a transform module for transforming the input representation in the machine system. The input speed is the speed in the navigation coordinate system; A scale coefficient and misalignment error compensation module for compensating the scale coefficient and misalignment error in the speed measurement; and a relative position calculation module for receiving the IMU speed and attitude data and the compensated speed, It is thought that the Kalman filter forms the relative position measurer. Page 99 498170 VI. Patent application scope 3 8. The autonomous \ non-disruptive positioning system as described in item 37 of the patent application scope, wherein the combined Kalman filter includes: a motion test module for Determining whether the user automatically stops; a GPS accuracy monitor to determine whether the GPS data is available; a measurement and time-varying matrix forming module for determining the user's motion state from the motion test module, And GPS availability from the GPS accuracy monitor to form the measurements and time-varying matrix for the state estimation module; and A state estimation module is configured to filter the measurement and obtain the optimal estimate of the I M U positioning error, including I MU position error, speed error, and attitude error. 39. The autonomous \ non-disruptive positioning system described in item 38 of the scope of patent application, wherein the state estimation module provides a horizontal filter-to obtain the estimation of the horizontal I MU positioning error, a vertical filter A first obtains the estimator of the vertical IMU positioning error. 40. The autonomous \ non-disruptive positioning system according to item 39 of the scope of patent application, wherein the motion test module provides: a speed generator change test module for receiving the speed generator reading to determine Whether the user stops or restarts; A system speed change test module for comparing changes in the system speed between the current and the previous cycle to determine whether the user stopped or restarted; a system speed test module for comparing the speed of the system The magnitude is compared to a pre-defined value to determine if the user stopped or restarted Page 100 498170 VI. Patent application scope New start; and an attitude change test module for comparing the amplitude of the system attitude with a pre-defined value to determine whether the user stopped or restarted the user. 41. The autonomous \ non-disruptive positioning system according to item 10 of the scope of patent application, wherein the navigation processor further provides: an INS calculation module, which uses the digital angular increment and A speed increment signal to generate an inertial positioning measurement; an integrated Kalman filter to estimate the inertial positioning measurement error to correct the inertial positioning error; A magnetic sensor processing module to generate a heading angle; a speed generator processing module to generate a relative position error measurement for the Kalman filter; an altitude measurement measurement processing module to use the height measurement to form the average altitude The data type. 4 2. The autonomous \ non-disruptive positioning system as described in item 41 of the scope of patent application, wherein the INS calculation module further includes: a sensor compensation module to correct the digital angle increment and speed increment signals And an inertial navigation algorithm module to calculate I NS position, velocity, and attitude Data. 43. The autonomous \ non-disruptive positioning system as described in item 1 of the scope of patent application, wherein the inertial integration module includes: an attitude integration module for integrating the angular increment into the attitude Page 101 498170 VI. Patent application range data; a speed integration module that converts the measured speed increase into a suitable navigation coordinate system through the use of attitude data, wherein the converted speed increase is integrated into all The speed data; and a position integration module for integrating the speed data of the navigation system into the position data. 4 4. The autonomous \ non-disruptive positioning system as described in item 43 of the scope of patent application, wherein the speed generator processing module further includes: a transformation module for transforming the input representation in the machine system. The input speed is the speed in the navigation coordinate system; a scale factor and misalignment error compensation module is used to compensate the scale coefficient and misalignment error in the speed measurement; and a relative position calculation module is used to receive the I MU speed and attitude data and the compensated speed for the Kalman filter to form the relative position measurer. 4 5. The autonomous \ non-disruptive positioning system according to item 44 of the scope of patent application, wherein the combined Kalman filter includes: a motion test module to determine whether the user automatically stops; a GPS An accuracy monitor to determine whether the GPS data is available; a measurement and time-varying matrix forming module for determining the user's motion state from the exercise test module and the GPS accuracy monitor GPS availability to form the measurements and time-varying matrix for the state estimation module; and a state estimation module to filter the measurements and obtain the IMU Page 102 498170 VI. Patent Application Range The optimal estimation of the positioning error includes I M U position error, speed error, and attitude error. 46. The autonomous \ non-disruptive positioning system according to item 45 of the scope of patent application, wherein the state estimation module provides a horizontal filter-to obtain the estimation of the horizontal IMU positioning error, a vertical filter 1. The wave device obtains the estimator of the vertical I MU positioning error. 4 7. The autonomous \ non-disruptive positioning system according to item 46 of the scope of patent application, wherein the motion test module provides: a speed generator change test module for receiving the speed generator reading to determine the speed generator Whether the user stopped or restarted; a system speed change test module for comparing the current and the previous period's system speed change to determine whether the user stopped or restarted; a system speed test module for Comparing the amplitude of the system speed with a predefined value to determine whether the user has stopped or restarted; and an attitude change test module for comparing the amplitude of the system attitude with a predefined value The values are compared to determine if the user stopped or restarted. 48. The autonomous \ non-disruptive positioning system according to item 16 of the scope of patent application, wherein the navigation processor further provides: an INS calculation module, which uses the digital angle increment from the IMU And velocity incremental signals to generate inertial positioning measurements; an integrated Kalman filter and wave filter to estimate the inertial positioning measurement errors, Page 103 498170 VI. Application for patent scope to correct inertial positioning error; a magnetic sensor processing module to generate a heading angle; a speed generator processing module to generate a relative position error measurement for the Kalman filter; an altitude measurement A measurement processing module that uses the height measurement to form the data type of the average altitude. 4 9. The autonomous \ non-disruptive positioning system according to item 48 of the scope of patent application, wherein the INS calculation module further includes: a sensor compensation module to correct the digital angle increment and speed increment signals And an inertial navigation algorithm module to calculate position, velocity, and attitude data. 50. The autonomous \ non-disruptive positioning system as described in item 49 of the scope of patent application, wherein the inertial integration module includes: an attitude integration module for integrating the angular increment into the attitude data A speed integration module that converts the measured speed increase into a suitable navigation coordinate system by using the attitude data, wherein the converted speed increase is integrated into the speed data; and a position integration module, The speed data used to integrate the navigation system is the position data. 51. The autonomous \ non-disruptive positioning system as described in item 50 of the scope of patent application, wherein the speed generator processing module further includes: a transform module for transforming the input representation in the machine system. lose Page 104 498170 VI. The patent application scope entry speed is the speed in the navigation coordinate system; a scale factor and misalignment error compensation module to compensate for the scale factor and misalignment errors in the speed measurement; and The relative position calculation module is configured to receive the IMU speed and attitude data and the compensated speed, so as to form the relative position measurer for the Kalman filter. 5 2. The autonomous \ non-disruptive positioning system as described in item 51 of the scope of patent application, wherein the combined Kalman filter described in: A motion test module to determine whether the user automatically stops; a GPS accuracy monitor to determine whether the GPS data is available; a measurement and time-varying matrix formation module to determine Forming the measurements and a time-varying matrix for the state estimation module; and a state estimation module for filtering the measurements and Obtain the optimal estimate of the IMU positioning error, including those of IMU position error, speed error, and attitude error. 53. The autonomous \ non-disruptive positioning system according to item 52 of the scope of patent application, wherein the state estimation module provides a horizontal filter-to obtain the estimation of the horizontal I MU positioning error, a vertical The first filter obtains the estimator of the vertical IMU positioning error. 5 4. The autonomous \ non-disruptive positioning system according to item 52 of the scope of patent application, wherein the motion test module provides: a speed generator change test module for receiving the speed generation Page 105 498170 VI. Patent application scope readings to determine whether the user stopped or restarted; a system speed change test module to compare the changes in system speed over the current and the previous cycle to determine Whether the user stops or restarts; a system speed test module for comparing the amplitude of the system speed with a predefined value to determine whether the user stops or restarts, and an attitude change test A module for comparing the amplitude of the system posture with a predefined value to determine whether the user stopped or restarted. 5 5. The autonomous \ non-disruptive positioning system as described in item 19 of the scope of patent application, wherein the navigation processor further provides: an INS calculation module that uses the digital angle increment from the IMU And velocity increment signals to generate inertial positioning measurements; an integrated Kalman filter and wave device to estimate the inertial positioning measurement errors to correct the inertial positioning errors; a magnetic sensor processing module to generate a heading angle; a speed generator processing A module for generating a relative position error measurement for the Kalman filter; an altitude measurement measurement processing module that uses the height measurement to form the average altitude and the data type. 56. The autonomous \ non-disruptive positioning system as described in item 55 of the scope of patent application, wherein the I NS calculation module further includes: a sensor compensation module to correct the digital angular increment and velocity increase Page 106 498170 VI. Patent Application Range Errors in signal; and an inertial navigation algorithm module to calculate I NS position, velocity, and attitude data. 57. The autonomous \ non-disruptive positioning system according to item 56 of the scope of patent application, wherein the inertial integration module includes: an attitude integration module for integrating the angular increment into the attitude data A speed integration module that converts the measured speed increase into a suitable navigation coordinate system by using the attitude data, wherein the converted speed increase is integrated into the speed data; and a position integration module, The speed data used to integrate the navigation system is the position data. 58. The autonomous \ non-disruptive positioning system as described in item 57 of the scope of patent application, wherein the speed generator processing module further includes: a transform module for transforming the input representation in the machine system. The input speed is the speed in the navigation coordinate system; a scale factor and misalignment error compensation module is used to compensate the scale coefficient and misalignment error in the speed measurement; and a relative position calculation module is used to receive the IMU speed and attitude data and the compensated speed to form the relative position measurer for the Kalman filter. 59. The autonomous \ non-disruptive positioning system according to item 58 of the scope of patent application, wherein the combined Kalman filter includes: a motion test module to determine whether the user automatically stops; Page 107 498170 VI. Patent application scope-A GPS accuracy monitor to determine whether the GPS data is available; a measurement and time-varying matrix forming module for determining the user's motion status from the motion test module And GPS availability from the GPS accuracy monitor to form the measurements and time-varying matrix for the state estimation module; and a state estimation module to filter the measurements and obtain the I MU positioning The optimal estimate of the error includes the IMU position error, the speed error, and the attitude error. 60. The autonomous \ non-disruptive positioning system according to item 59 of the scope of patent application, wherein the state estimation module provides a horizontal filter-to obtain the estimation of the horizontal I MU positioning error, a vertical The first filter obtains the estimator of the vertical IMU positioning error. 61. The autonomous \ non-disruptive positioning system as described in item 60 of the scope of patent application, wherein the motion test module provides: a speed generator change test module for receiving the speed generator reading to Determining whether the user stopped or restarted; a system speed change test module for comparing changes in system speed between the current and the previous cycle to determine whether the user stopped or restarted; a system speed test A module for comparing the amplitude of the system speed with a pre-defined value to determine whether the user stopped or restarted; and an attitude change test module for comparing the amplitude of the system attitude with A predefined value is compared to determine if the user is stopped or restarted Page 108 498170 VI. Scope of patent application New starter. 62. The autonomous \ non-disruptive positioning system according to item 23 of the scope of patent application, wherein the navigation processor further provides: an INS calculation module, which uses the digital angle increment from the IMU And velocity increment signals to generate inertial positioning measurements; an integrated Kalman filter and wave device to estimate the inertial positioning measurement errors to correct the inertial positioning errors; a magnetic sensor processing module to generate a heading angle; a speed generator processing A module for generating a relative position error measurement for the Kalman filter; an altitude measurement measurement processing module for forming the average altitude and the data type by using the altitude measurement. 63. The autonomous \ non-disruptive positioning system as described in item 62 of the scope of patent application, wherein the INS calculation module further includes: a sensor compensation module to correct the digital angle increment and speed increment signals And an inertial navigation algorithm module to calculate the INS position, velocity, and attitude data. 6 4. The autonomous \ non-disruptive positioning system according to item 63 of the scope of patent application, wherein the inertial integration module includes: an attitude integration module for integrating the angular increment into the attitude data A speed integration module that converts the measured speed increment to a suitable navigation coordinate system by using the attitude data, wherein the converted speed Page 498 498170 6. The scope of patent application The degree increment is integrated into the speed data; and a position integration module is used to integrate the speed data of the navigation system into the position data. 65. The autonomous \ non-disruptive positioning system as described in item 64 of the scope of patent application, wherein the speed generator processing module further includes: a transformation module for transforming the input representation in the machine system. The input speed is the speed in the navigation coordinate system; a scale factor and misalignment error compensation module is used to compensate the scale coefficient and misalignment error in the speed measurement; and a relative position calculation module is used to receive the IMU speed and attitude data and the compensated speed to form the relative position measurer for the Kalman filter. 66. The autonomous \ non-disruptive positioning system according to item 65 of the scope of patent application, wherein the combined Kalman filter includes: a motion test module to determine whether the user automatically stops; a GPS An accuracy monitor to determine whether the GPS data is available; a measurement and time-varying matrix forming module for determining the user's motion state from the exercise test module and the GPS accuracy monitor GPS availability to form the measurement and time-varying matrix for the state estimation module; and a state estimation module to filter the measurement and obtain the optimal estimate of the IMU positioning error, including IMU position error , Speed error, and attitude error. 6 7. The autonomous \ non-disruptive positioning system described in item 6 of the scope of patent application Page 110 498170 6. The scope of the patent application, wherein the state estimation module provides a horizontal filter to obtain the estimation of the horizontal I MU positioning error, and a vertical filter to obtain the vertical IMU positioning error. The estimator. 68. The autonomous \ non-disruptive positioning system according to item 67 of the scope of the patent application, wherein the motion test module provides: a speed generator change test module for receiving the speed generator readings, and Determining whether the user stopped or restarted; a system speed change test module for comparing changes in system speed between the current and the previous cycle to determine whether the user stopped or restarted; a system speed test A module for comparing the amplitude of the system speed with a pre-defined value to determine whether the user stopped or restarted; and an attitude change test module for comparing the amplitude of the system attitude Compare to a predefined value to determine if the user stopped or restarted. 6 9 · The autonomous \ non-disruptive positioning system described in item 26 of the scope of patent application, wherein the navigation processor further provides: an INS calculation module, which uses the digital angle increment from the IMU And velocity increment signals to generate inertial positioning measurements; an integrated Kalman filter to estimate the inertial positioning measurement errors to correct the inertial positioning errors; a magnetic sensor processing module to generate a heading angle; a speed generator processing module For producing the Kalman filter Page 111 498170 VI. Patent application scope Relative position error measurement; an altitude measurement measurement processing module that uses the height measurement to form the average altitude and the data type. 70. The autonomous \ non-disruptive positioning system according to item 69 of the scope of the patent application, wherein the INS calculation module further includes: a sensor compensation module to correct the digital angle increment and speed increment signals And an inertial navigation algorithm module to calculate the INS position, velocity, and attitude data. 71. The autonomous \ non-disruptive positioning system according to item 70 of the scope of patent application, wherein the inertial integration module includes: an attitude integration module for integrating the angular increment into the attitude data A speed integration module that converts the measured speed increase into a suitable navigation coordinate system by using the attitude data, wherein the converted speed increase is integrated into the speed data; and a position integration module, The speed data used to integrate the navigation system is the position data. 7 2. The autonomous \ non-disruptive positioning system as described in item 71 of the scope of patent application, wherein the speed generator processing module further includes: a transform module for transforming the input representation in the machine system. The input speed is the speed in the navigation coordinate system; a scale factor and misalignment error compensation module is used to compensate the scale factor and misalignment error in the speed measurement; and Page 112 498170 (1) Patent application scope A relative position calculation module for receiving the IM speed and attitude data and the compensated speed to form the relative position measurer for the Kalman filter. 7 3 · The autonomous \ non-disruptive positioning system described in item 72 of the scope of patent application, wherein the combined Kalman filter includes: A motion test module to determine whether the user automatically stops; a GPS accuracy monitor to determine whether the GPS data is available; a measurement and time-varying matrix formation module to determine Forming the measurements and a time-varying matrix for the state estimation module; and a state estimation module for filtering the measurements and Obtain the optimal estimate of the I MU positioning error, including those of the IMU position error, the speed error, and the attitude error. 7 4. The autonomous \ non-disruptive positioning system according to item 73 of the scope of patent application, wherein the state estimation module provides a horizontal filter-to obtain the estimation of the horizontal I MU positioning error, a vertical The first filter obtains the estimator of the vertical IMU positioning error. 7 5. The autonomous \ non-disruptive positioning system as described in item 74 of the scope of patent application, wherein the motion test module provides: A speed generator change test module for receiving the speed generator reading to determine whether the user has stopped or restarted; a system speed change test module for comparing the system on the current and the previous cycle Changes in speed to determine if the user stopped or Page 113 498170 VI. Restart of patent application scope; a system speed test module for comparing the amplitude of the system speed with a predefined value to determine whether the user stopped or restarted; and An attitude change test module is used to compare the amplitude of the system attitude with a predefined value to determine whether the user stops or restarts. 76. The autonomous \ non-disruptive positioning system according to item 3 or item 75 of the scope of the patent application, wherein the inertial measurement component is a micro-kernel inertial measurement component, including: an angular rate generator for generating X , Y, z-axis angular rate signals; an acceleration generator for generating X, Y, and z-axis acceleration signals; an angular increment and velocity incremental generator for converting the X, Y, and z-axis angular rates The signal is converted into a digital angle increment and the X, Y, and Z axis acceleration signals are converted into a digital speed increment. 7 7. The autonomous \ non-disruptive positioning system according to item 76 of the scope of patent application, wherein the micro-kernel inertial measurement component further includes a thermal control device, so that the angular rate generator and The working temperature of the generator and the angular and speed increment generators is maintained at the set value. 78. The autonomous \ non-disruptive positioning system according to item 7 of the scope of patent application, wherein the thermal control device further includes a heat sensitive generator, a heater, and a heat processor, wherein the heat sensitive generation The generator works in parallel with the angular rate generator, acceleration generator, and angular and velocity incremental generators to generate a temperature signal in order to add the angular rate generator, Page 114 498170 VI. Scope of patent application The working temperature of the speed generator, the angular increment and the speed increment generator is maintained at the set value. The set temperature is a constant value and can be selected between 150F and 185F. The temperature signal generated by the thermal sensitive generator is output to the thermal processor. The thermal processor uses the temperature signal, the temperature scale coefficient and the angular rate. The generators and acceleration generators and the angular and speed increment generators have predetermined operating temperatures to calculate temperature control instructions and form corresponding drive signals to the heaters to control the heaters to generate enough heat to keep the Angular rate generator and acceleration generator and predetermined operating temperature of the angular increment and velocity increment generator. 79. The autonomous \ non-disruptive positioning system as described in item 78 of the scope of patent application, wherein the X, Y, and Z axis angular rate signals generated by the angular rate generator are analog voltage signals, which are directly proportional to the carrier The angular rate of the X, Y, and Z axis acceleration signals from the acceleration generator is an analog voltage signal, which is directly proportional to the acceleration of the carrier. 80. The autonomous \ non-disruptive positioning system as described in item 79 of the scope of the patent application, wherein the angle increment and speed increment generators include: an angle integrator and an acceleration integrator, respectively, for Integrate X, Y, and Z axis angular rate analog voltage signals and X, Y, and Z axis acceleration analog voltage signals during the time period to accumulate X, Y, and Z axis angular rate analog voltage signals and X, Y, and Z axis acceleration analog voltages Signals to form uncompensated original angular increments and velocity increments, where the integration operation is to eliminate indirect signals in X, Y, and Z axis angular velocity analog voltage signals and X, Y, and Z axis acceleration analog voltage signals. Noise signal proportional to the angular rate and acceleration of the carrier, improve the signal-to-noise ratio, and eliminate the analog voltage signal at the X, Υ, and ζ axis angular rates Page 115 498170 VI. High-frequency noise in the patent application range and X, Y, and Z-axis acceleration analog voltage signals; The resetter generates angle reset voltage pulses and speed reset voltage pulses, which are output as angle and speed scales respectively. Angle integrator and acceleration integrator; the angular increment and velocity increment measurer uses the angle reset voltage pulse and speed reset voltage pulse to measure the accumulated X, Y, and Z axis angular rate analog voltage signals and X, Y, The Z-axis acceleration simulates the voltage signal, and obtains the angular increment count value and the speed increment count value, and accordingly serves as the digital quantity of the angular increment and the speed increment. 81. The autonomous \ non-disruptive positioning system as described in item 80 of the scope of the patent application, wherein the angular increment and velocity increment measurer integrates the accumulated X, Y, and Z axis angular increments and The speed increment voltage value is converted into actual X, Y, and z axis angular increments and speed increments, wherein in the angle integrator and acceleration integrator, the X, Y, and Z axis angular rate analog voltage signals The X, Y, and Z-axis acceleration analog voltage signals are respectively reset so that the accumulators are started from zero at the beginning of each predetermined period of time. 8 2. The autonomous \ non-disruptive positioning system according to item 81 of the scope of patent application, wherein the resetter includes an oscillator, and the angle reset voltage pulse and the speed reset voltage pulse are generated by the oscillator. Timing pulses come true. 8 3. The autonomous \ non-disruptive positioning system as described in item 82 of the scope of patent application, wherein the analog voltage signals for measuring the X, Y, and Z axis angular rates and the X, Y, and Z acceleration analog voltages are accumulated. The angular and velocity incremental measurer of the signal includes an analog / digital converter so that Page 116 498170 VI. Scope of patent application The original X, Y, and Z axis angular increments and speed increment voltage values are digitized into digital quantities of X, Y, and z axis angular increments and speed increments. 8 4. The autonomous \ non-disruptive positioning system as described in item 83 of the scope of patent application, wherein the angle integrator of the angle increment and speed increment generator includes an angle integration circuit that receives and integrates signals from all sources. The amplified X, Y, and Z axis angular rate analog signals of the angle amplifier circuit form accumulated X, Y, and Z axis angular incremental signals, and the acceleration integrator of the angular increment and velocity increment generator includes acceleration. The integration circuit receives and integrates the amplified X, Y, and Z axis acceleration analog signals from the acceleration amplifier circuit to form an accumulated X, Y, and Z axis speed increase signals. 8 5. The autonomous \ non-disruptive positioning system as described in item 84 of the scope of patent application, wherein the angle increment and speed increment generator further includes an angle amplifying circuit for amplifying the X, Y 'Z axes The angular rate analog voltage signal forms an amplified X, Y, and Z axis angular rate analog signal, and an acceleration amplifier circuit is used to amplify the X, Y, and Z axis acceleration analog voltage signals to form an amplified X, Y, and Z axis. Acceleration analog signal. 86. The autonomous \ non-disruptive positioning system as described in item 85 of the scope of patent application, wherein the angle integrator of the angle increment and speed increment generator includes an angle integration circuit, which receives and integrates signals from all sources. The amplified X, Y, and Z axis angular rate analog signals of the angular amplifier circuit form an accumulated X, Y, and Z axis angular incremental signals. The acceleration integrator of the angular increment and velocity increment generator includes acceleration. The integration circuit receives and integrates the amplified X, Y, and Z axis acceleration analog signals from the acceleration amplifier circuit to form an accumulated X, Y, and Z axis speed incremental signals. Page 117 498170 VI. Patent application scope 87. The autonomous \ non-disruptive positioning system as described in item 86 of the patent application scope, wherein the analog / digital converter of the angular increment and speed increment generator It further includes an angular analog / digital converter, a speed analog / digital converter, and an input / output interface circuit, wherein the angular increment accumulated from the angular integration circuit and the accumulated speed increment from the acceleration integration circuit Is output to the angle analog / digital converter and the speed analog / digital converter respectively, and the accumulated angular increment is measured by the angle analog / digital converter by using the angle reset voltage signal to measure the accumulated angular increase To form an angular increment count value as a form of digital angular increment voltage, the angular increment count value is output to the input / output interface circuit to form a digital X, Y, and Z axis angular increment voltage Value, the accumulated speed increment is measured by the speed analog / digital converter by using the speed reset voltage signal to form the accumulated speed increment Count value, as a digital form of a voltage increment rate, the speed increment count value is outputted to the input / output interface circuit, so as to form a digital X, Y, Z-axis velocity value by the delta voltage. 88. The autonomous \ non-disruptive positioning system according to item 87 of the scope of patent application, wherein the thermal processor includes an analog / digital converter connected to the heat sensitive generator, connected to the heating And a temperature controller connected to the analog / digital converter and the digital / analog converter, wherein the analog / digital converter inputs a temperature voltage signal generated by a thermal sensitive generator, The analog / digital converter samples the temperature voltage signal, digitizes the voltage signal, and outputs the digital temperature signal to the temperature controller, which the temperature controller uses to Page 118 498170 6. The scope of patent application is from the digital temperature voltage signal, temperature calibration coefficient and predetermined operating temperature of the above-mentioned angular rate generator and acceleration generator of the above-mentioned analog / digital converter to calculate the digital temperature control instruction, and The digital temperature control instruction is sent to the digital / analog converter, and the digital / analog converter converts the digital temperature control instruction from the digital temperature controller into an analog signal and outputs the analog signal to the heater. In order to generate appropriate heat to ensure the operating temperature of the predetermined small inertial measurement component of the IMU. 8 9. The autonomous \ non-disruptive positioning system according to item 8 of the scope of patent application, wherein the thermal processor further comprises: a first amplifier connected between the thermal generator and the digital / analog converter A circuit in which a voltage signal is obtained from the above-mentioned thermal sensor generator and is input to the first amplifier circuit to amplify and suppress noise in the voltage signal to improve the signal-to-noise ratio. The amplified voltage signal is input to the analog / digital converter A second amplifier circuit connected between the digital / analog converter and the heater, and used to amplify the input analog signal from the digital / analog converter to the heater. 90. The autonomous \ non-disruptive positioning system according to item 8 of the scope of patent application, wherein the thermal processor further includes an input / output interface circuit connected to the analog-to-digital converter and digital-to-digital converter and temperature Between the controllers, wherein the voltage signal is sampled by the analog / digital converter, and the sampled signal is digitized, and then the digital signal is output to an input / output interface circuit, and the temperature controller uses a signal from the input Page 119 498170 VI. Digital temperature and voltage signal of analog / digital converter of input / output interface circuit of patent application range, temperature calibration coefficient and predetermined operating temperature of the above-mentioned angular rate generator and acceleration generator to calculate digital temperature control Instruction, and feedback the digital temperature control instruction to the input / output interface circuit, the digital / analog converter converts the digital temperature control instruction from the input / output interface circuit into an analog signal, and outputs the analog signal to the above A heater to generate appropriate heat to ensure a predetermined operating temperature of the small inertial measurement assembly. 9 1. An autonomous \ non-disruptive positioning method for users on the surface of the earth, including steps: (a) using a main inertial measurement component IMU, which is sensitive to the user's motion, to generate digital angular increments and speed increments corresponding to the user's motion, (b) provide an interruptible positioning data through a positioning aid, Autonomous / non-disruptive positioning module of the main IMU; (c) using motion measurement to generate autonomous / non-disruptive positioning data of the user, and when interruptible positioning data is available, improving the user's autonomous / non-disruptive positioning Interrupted positioning data; (d) Exchanging the improved user autonomous / non-disruptive positioning data with other users via wireless communication devices; (e) providing map data, obtaining location and surrounding environment information by accessing the map database with the improved user autonomous \ non-disruptive positioning information; and (f) using the surrounding environment information through a display device to display the Improved user autonomy \ non-disruptive positioning data. Page 120 498170 VI. Application for patent scope 9 2. The autonomous \ non-disruptive positioning method as described in item 91 of the patent application scope, wherein step (b) further includes a step from the positioning aid device, GPS The GPS signal from the receiver is used to derive GPS positioning data. 93. The autonomous \ non-disruptive positioning method described in item 92 of the scope of patent application, wherein step (b) further includes a step of deriving coarse positioning data through the wireless communication device. 9 4. The autonomous \ non-disruptive positioning method as described in item 91 or item 92 or item 93 of the scope of patent application, wherein step (c) further includes the following steps: (C. 1) using a magnetic sensor to sense the earth's magnetic field to measure the heading angle of the user, (C · 2) using a speed generator to measure the relative speed of the user with respect to the ground to generate a measurement speed, and ( C. 3) measuring the height of the user to form an average altitude of 1¾ degrees in the digital form of the user; (C. 4) mixing the digital angle increment and speed increment signals, the heading angle, and the user relative The relative speed on the ground, the average altitude of the user, and the GPS positioning data are those who generate the optimal positioning data. 95. The autonomous \ non-disruptive positioning method as described in item 94 of the scope of patent application, wherein step (C · 4) further includes the following steps: (C.4.1) Calculate inertial positioning measurement using the digital angular increment and speed increment signals; (C.4.2) Calculate the heading angle using the earth magnetic field measurement; (C.4.3) Using the relative speed of the user relative to the ground, as Page 121 498170 6. Kalman filter with patent scope, in the speed generator processing module, generates relative position error measurement; (C.4.4) converting the height measurement into digital form of the user's The average altitude; (C.4.5) performing a Kalman filter calculation to estimate an inertial positioning measurement error to correct the inertial positioning surveyor. 96. The autonomous \ non-disruptive positioning method described in item 95 of the scope of patent application, wherein step (C.4.1) further includes the following steps: (C. 4. 1. 1) Integrate the angular increment Is attitude data, which is called attitude integration processing; (C. 4.1.2) Use the attitude data to transform the measured speed increment to an appropriate navigation coordinate system, where the transformation is described The subsequent speed increment integration is speed, which is called speed integration processing; and (C · 4.1.3) integrating the navigation system speed data is position data, which is called position integration processor. 9 7. The autonomous \ non-disruptive positioning method as described in item 96 of the scope of patent application, wherein step (C.4.5) further includes the following steps: (C. 4. 5. 1) perform a motion test to Determining whether the user has stopped in order to initiate zero speed correction; (C. 4.2. 2) determining whether GPS data is available by using a GPS status indication from the GPS receiver; (C. 4.5.3) Forming a measurement equation and a time-varying matrix for the Kalman filter; and (C.4.4.4) using the Kalman filter to calculate an estimate of the error state Page 122 498170 \, patent application scope. 98. The autonomous \ non-disruptive positioning method described in item 94 of the scope of patent application, wherein step (C · 2) further includes the following steps ... (C.2.1.1) expressing the measured expression in The speed of the body coordinate system is converted to the speed expressed in the navigation coordinate system; (C.2.2) The speed difference obtained by comparing the measured speed with the speed obtained by the IMU is obtained; (C. 2 · 3) The speed difference is integrated over a predetermined period of time. 9 9. The autonomous \ non-disruptive positioning method as described in item 97 of the scope of patent application, wherein step (C · 2) further includes the following steps: (C. 2.1) The expression of the measurement is in the body The speed of the coordinate system is converted into the speed expressed in the navigation coordinate system; (C.2.2) The speed difference obtained by comparing the measured speed with the speed obtained by the IMU is obtained; (C · 2 · 3) at The speed difference is integrated for a predetermined period of time. 1 0. The autonomous \ non-disruptive positioning method as described in item 94 of the scope of patent application, wherein step (b) further includes an additional step to obtain differential GPS positioning data through a data link. 101. The autonomous \ non-disruptive positioning method as described in item 99 of the scope of patent application, wherein step (b) further includes an additional step to obtain differential GPS positioning data through a data link. 102. The autonomous \ non-disruptive positioning method as described in item 92 of the scope of patent application, wherein the additional step of step (b) further comprises a step (b. 1) based on testing the emergence of a new satellite Or the occurrence of periodic slips, Page 123 498170 6. The scope of the patent application utilizes the coarse measurement of the GPS motion table from the GPS processor, the coarse measurement of GPS from the data link, the position and speed, and the measurement from the INS processor. Inertial navigation solution, determine the whole week blur, and send the whole week blur to the Kalman filter and wave filter. 1 0 3. The autonomous \ non-disruptive positioning method as described in item 102 of the scope of patent application, wherein the step (b · 1) further includes the steps: (b. 1.1) Rough measurement of GPS motion table from GPS processor, rough measurement of GPS from the data link, position and speed, and the inertial navigation solution from the NS processor to a new satellite or periodic slip detection Module to test the emergence of new satellites or the occurrence of periodic slip; (b. 1.2) when the new satellite periodic slip detection module works, that is, when a new satellite or periodic slip occurs, initialize a dynamic fuzzy solution module; ( b · 1.3) determine the whole-round blur, estimate a more accurate user navigation solution, and (b.1.4) send the selected whole blur from the dynamic blur solution module to the Kalman filter, wave器 者。 Applicants. 1 0 4. The autonomous \ non-disruptive positioning method as described in item 103 of the scope of patent application, wherein the step (b · 1 · 2) further includes steps: (b · 1 · 2 · 1) settings A search window consisting of multiple time periods N; (b. 1.2.2) In the first time period within the search window, an I ASS, that is, an intermediate fuzzy search strategy, is used to search the entire week fuzzy set, where Because there is no member in the estimator library before the first period, the whole fuzzy integration is a member of the estimator library, and the motion station position is determined based on the fuzzy set and phase measurement Fuzzy solution of Page 124 498170 6. The scope of the patent application calculates the corresponding weights in the weight library. As a result, during the period, the optimal position of the sports table is the position of the sports table multiplied by the corresponding weights, and , Estimating the speed of the motion table based on the optimal position of the motion table and the Doppler frequency shift; (b · 1.2.3) in the second window within the search window, using the Said IASS, searching the whole week fuzzy set; (b · 1 · 2 · 4) For the remaining period of the search window, apply the same process as step (1) · 1. 2. 3), where in the The last period of the search window, period N, after the IASS search, the estimator library and the weight library are completely established; (b · 1 · 2 · 5) in the N + 1th period, continuously input the phase measurement to each of the Kalman filters of the estimator library, wherein, based on each of the fuzzy set and the The phase measurement can estimate the position of a single moving table, and can accumulate and calculate each corresponding weight in the weight library. Therefore, the optimal position of the moving table is equal to the sum of the single moving table position and the corresponding weight, And further estimating the speed of the motion table based on the optimal position of the motion table and the Doppler frequency shift; (b. 1 · 2 · 6) after applying step (b · 1 · 2 · 5) after the N + 1 period, until a criterion is satisfied, wherein after the criterion is satisfied, the estimator library and the The weight library stops working, during the confirmation period, from the first period to the last period of the search window, when the estimator library and the weight library stop working, the estimator library and the weight The library continuously recognizes the correct whole-week fuzzy set and estimates the position of the motion platform in real time, wherein the weight in the weight library corresponding to the correct whole-week fuzzy in the estimator library approaches Page 125 498170 6. The scope of application for patent one, and the remaining fuzzy sets converge to zero; and (b · 1 · 2 · 7) After determining the whole week fuzzy, use the least squares estimation method to estimate all The position and speed of the motion table are described; when a new satellite or periodic sliding occurs, the process is step (b · 1 · 2 · 1--b. 1 · 2. 7) will start the worker. 1 0. The autonomous \ non-disruptive positioning method as described in item 104 of the scope of patent application, wherein, in step (b.1.2. 3), when the whole week fuzzy set is related to a certain previous one When the time periods are the same, the number of the Kalman filters does not change, and based on the fuzzy set and the phase measurement, the position of the motion station and the calculation of the accumulativeness can be estimated in the estimator library in The corresponding weights in the weight library, as a result, the position of the optimal motion table is equal to the position of the motion table multiplied by the corresponding weight, and based on the optimal motion table position and the Doppler Those who shift the frequency and estimate the speed of the moving table. 106. The autonomous \ non-disruptive positioning method according to item 104 of the scope of patent application, wherein in step (b.1.2.3), when the whole week fuzzy set is different from a certain period before, said The current fuzzy integration is a new member of the estimator library, that is, the number of the Kalman filters plus one, where based on each of the fuzzy sets and the same phase measurement, can be used in the estimator library The position of a single moving platform is estimated, and each corresponding weight in the weight base is calculated from scratch, so the optimal position of the moving platform is equal to the single moving platform position multiplied by the sum of the corresponding weights, based on the optimal The position of the moving table and the Doppler frequency shift are used to estimate the speed of the moving table. 1 0. The autonomous \ non-disruptive positioning method as described in the scope of patent application No. 104 or No. 105 or No. 105, wherein the I ASS includes steps: Page 126 498170 6. The scope of the patent application is in the main double-difference wide-path fuzzy solution module, which resolves the main double-difference wide-path fuzzy, in which the advance information about the position of the motion stage is obtained from the pseudorange measurement without ionosphere, and approximate Combine the double-difference wide-track phase length measurement to estimate the motion station position and the main double-difference wide-track fuzzy solution; apply a simplified least squares estimator to search the fuzzy set; in the position calculation module, based on the determined master Double-difference wide-path fuzzy solution, calculating the position of the motion stage; applying the position of the mobile stage determined by the main wide-path fuzzy to the secondary double-difference wide-channel phase measurement to determine the secondary double-difference wide-channel fuzzy solution; Obtain an approximate double-difference narrow-path fuzzy solution, and then apply the super-wide-channel technology module to obtain a narrow-channel fuzzy solution; and in the L1 and L2 fuzzy-solution module, from the wide-channel fuzzy solution and the narrow-channel The combination of fuzzy solutions can be obtained by L1 and L2 fuzzy solvers. Chapter 127