WO2021027621A1 - Procédé de navigation, appareil, dispositif électronique et support de stockage - Google Patents

Procédé de navigation, appareil, dispositif électronique et support de stockage Download PDF

Info

Publication number
WO2021027621A1
WO2021027621A1 PCT/CN2020/106747 CN2020106747W WO2021027621A1 WO 2021027621 A1 WO2021027621 A1 WO 2021027621A1 CN 2020106747 W CN2020106747 W CN 2020106747W WO 2021027621 A1 WO2021027621 A1 WO 2021027621A1
Authority
WO
WIPO (PCT)
Prior art keywords
pseudorange
positioning system
inertial navigation
global positioning
navigation system
Prior art date
Application number
PCT/CN2020/106747
Other languages
English (en)
Chinese (zh)
Inventor
李志杰
Original Assignee
Oppo广东移动通信有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Oppo广东移动通信有限公司 filed Critical Oppo广东移动通信有限公司
Publication of WO2021027621A1 publication Critical patent/WO2021027621A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Definitions

  • This application relates to the field of communication technology, and in particular to a navigation method, device, electronic equipment and storage medium.
  • Integrated navigation refers to a navigation system that integrates various navigation equipment and is controlled by a monitor and a computer.
  • Most integrated navigation systems are mainly inertial navigation systems (INS, Inertial Navigation System).
  • INS Inertial Navigation System
  • the main reason is that inertial navigation can provide more navigation parameters, and can also provide full attitude information parameters, which is unmatched by other navigation systems. Yes, it also needs the Global Positioning System (GPS) as an auxiliary role.
  • GPS Global Positioning System
  • the current time synchronization error of GPS/INS integrated navigation is to estimate its existing time synchronization error as the state of the Kalman filter, and the loose combination of INS/GPS
  • the method has certain limitations, such as the problem of filter cascade in loose combination, and the statistical observability of INS error is relatively weak. What's more, when the GPS alone navigation solution cannot be obtained due to the insufficient number of visible satellites, the GPS/INS loose integrated navigation fails.
  • GPS/INS tight integrated navigation is derived from this, but the existing GPS/INS tight integrated navigation also has time synchronization errors, and for a single satellite single calculation, its pseudorange, pseudorange rate and pseudorange rate derivative The arithmetic calculation is more complicated, and it is slow to obtain an accurate navigation position.
  • the embodiments of the present application provide a navigation method, device, electronic equipment, and storage medium, which can eliminate time synchronization errors in a GPS/INS tight integrated navigation system, and improve navigation accuracy and positioning speed.
  • an embodiment of the present application provides a navigation method, and the navigation method includes:
  • the time synchronization error between the inertial navigation system and the global positioning system is eliminated according to the measurement information to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system.
  • an embodiment of the present application provides a navigation device, and the navigation device includes:
  • the first acquiring module is used to acquire the measured values of the pseudorange and pseudorange rate of the global positioning system
  • the second acquiring module is used to acquire the pseudorange and the predicted value of the pseudorange rate of the inertial navigation system simultaneously engraved with the global positioning system;
  • a calculation module for calculating the measurement information of the combined positioning system of the global positioning system and the inertial navigation system according to the measured values of the pseudorange and the pseudorange rate and the predicted values of the pseudorange and the pseudorange rate;
  • the correction module is used to eliminate the time synchronization error between the inertial navigation system and the global positioning system according to the measurement information, so as to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system.
  • an embodiment of the present application provides an electronic device including a processor and a memory, the memory stores a plurality of instructions, and the processor loads the instructions in the memory to perform the following steps:
  • the time synchronization error between the inertial navigation system and the global positioning system is eliminated according to the measurement information to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system.
  • an embodiment of the present application provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps in the above navigation method are implemented.
  • FIG. 1 is a schematic diagram of the first flow of a navigation method provided by an embodiment of the present application.
  • Fig. 2 is a schematic diagram of a second flow of a navigation method provided by an embodiment of the present application.
  • Fig. 3 is a schematic diagram of a scene of a navigation method provided by an embodiment of the present application.
  • Figure 4 is an error comparison curve diagram provided by an embodiment of the present application.
  • Fig. 5 is a first structural diagram of a navigation device provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a second structure of a navigation device provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • the embodiments of the present application provide a navigation method, device, electronic equipment, and storage medium. Detailed descriptions are given below.
  • GPS Global Positioning System, Global Positioning System
  • GPS Global Positioning System
  • It is easy to use and low in cost. Its latest actual positioning accuracy has reached within 5 meters.
  • military applications of GPS systems still have disadvantages such as susceptibility to interference, poor reliability in dynamic environments, and low data output frequency.
  • GPS/INS integrated navigation systems include GPS/INS tight integrated navigation systems and GPS/INS loose integrated navigation systems.
  • the embodiment of the present application provides a navigation method, the method includes:
  • the time synchronization error between the inertial navigation system and the global positioning system is eliminated according to the measurement information to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system.
  • the obtaining the measured values of the pseudorange and the pseudorange rate of the global positioning system includes:
  • the acquiring the pseudorange and the predicted value of the pseudorange rate of the inertial navigation system at the same time as the global positioning system includes:
  • the system parameters including the navigation solution, satellite parameters, clock offset and clock drift of the inertial navigation system;
  • calculating the pseudorange and pseudorange rate predicted values of the inertial navigation system simultaneously with the global positioning system according to the system parameters includes:
  • the predicted value of the pseudorange and pseudorange rate of the inertial navigation system simultaneously engraved with the global positioning system is calculated according to the first conversion value, the second conversion value, and the unit line-of-sight distance vector of the satellite and the electronic device.
  • performing lever arm coordinate conversion on the navigation solution of the inertial navigation system to obtain the first conversion value and the second conversion value includes:
  • the navigation solution of the inertial navigation system is converted by lever arm coordinates to obtain the first conversion value and the second conversion value.
  • the conversion formula is as follows:
  • Is the first converted value Is the second conversion value
  • ⁇ is the angular velocity vector antisymmetric matrix
  • C is the coordinate conversion matrix
  • L is the phase center lever arm between systems
  • W is the system noise vector
  • the calculation of the measurement information of the combined positioning system of the global positioning system and the inertial navigation system according to the measured values of the pseudorange and the pseudorange rate and the predicted value of the pseudorange and the pseudorange rate includes :
  • the measurement information in the sampling period is acquired according to the sampling data of the pseudorange and pseudorange rate of the global positioning system and the sampling data of the pseudorange and the pseudorange rate of the inertial navigation system within the sampling period of the inertial navigation system.
  • the time synchronization error of the combined positioning system of the global positioning system and the inertial navigation system is eliminated according to the measurement information to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system, include:
  • the time synchronization error between the global positioning system and the inertial navigation system is obtained according to the measurement matrix, and the time synchronization error is eliminated to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system.
  • FIG. 1 is a first flowchart of a navigation method provided by an embodiment of the present application.
  • step 101 the measured values of the pseudorange and the pseudorange rate of the global positioning system are obtained.
  • Pseudo-range refers to the approximate distance between the ground receiver and the satellite during satellite positioning. Assuming that the satellite clock and the receiver clock are strictly synchronized, the propagation time of the signal can be obtained according to the transmission time of the satellite signal and the reception time of the signal received by the receiver, and then multiplied by the propagation speed to obtain the satellite-to-ground distance. However, there is inevitably a clock difference between the two clocks, and the signal is also affected by factors such as atmospheric refraction during propagation. Therefore, the distance directly measured by this method is not equal to the true distance between the satellite and the ground receiver. This distance is called pseudorange.
  • the user’s GPS receiver uses the principle of distance triangle measurement to calculate the three-dimensional space position of the user’s GPS receiver; at the same time, the distance obtained during the measurement time is used to differentiate in time, based on the linear velocity and In relation to the Doppler frequency, the user's GPS receiver can calculate the Doppler frequency of the satellite, thereby calculating its own movement speed. Because the clock reference of the user receiver has an error relative to the GPS atomic clock reference, the actual measurement distance is called “pseudo range", and the pseudo range will be differentiated within the actual measurement time interval. The speed measurement value is called “Delta pseudo range" (Delta pseudo range), also known as "Pseudo range rate”.
  • the measured values of the pseudo-range and pseudo-range rate of the global positioning system can be obtained from the GPS ranging processor, where the pseudo-range measurement value of the GPS navigation system can be obtained, which can be obtained by the first preset algorithm, for example, GPS is obtained by code tracking Pseudorange measurement value in the ranging processor.
  • Obtaining the pseudo-range rate measurement value of the GPS navigation system may be obtained by a second preset algorithm, for example, obtaining the pseudo-range rate measurement value in the GPS ranging processor from the carrier wave. It should be noted that the first preset algorithm and the second preset algorithm are not limited to the aforementioned algorithms.
  • the pseudorange and pseudorange rate in the GPS navigation system may also be measured values actively output by the GPS ranging processor.
  • step 102 the predicted values of the pseudo-range and pseudo-range rate of the inertial navigation system at the same time as the global positioning system are obtained.
  • the pseudorange and pseudorange rate predicted values of the inertial navigation system at the same time as the global positioning system can be obtained according to the system parameters in the INS navigation system, where the system parameters may include the parameters of the INS navigation system. Inertial navigation solution, estimated clock offset and clock drift, and satellite parameters.
  • the satellite parameters include the position and speed of the satellite calculated by the telegram.
  • the inertial navigation solution of the INS navigation system can be converted by lever arm coordinates to obtain the first conversion value and the second conversion value, according to the first conversion value, the second conversion value and the unit of the satellite and the electronic device
  • the line-of-sight distance vector is used to calculate the pseudorange and pseudorange rate estimates of the INS navigation system.
  • step 103 the measurement information of the combined positioning system of the global positioning system and the inertial navigation system is calculated according to the measured values of the pseudorange and the pseudorange rate and the predicted values of the pseudorange and the pseudorange rate.
  • the measurement information can be obtained according to the measured values of the pseudorange and pseudorange rate of the GPS navigation system and the predicted values of the pseudorange and pseudorange rate of the INS navigation system obtained above. For example, the difference between the measured value of the pseudorange of the GPS navigation system and the predicted value of the pseudorange of the INS navigation system, and the difference between the measured value of the pseudorange rate of the GPS navigation system and the predicted value of the pseudorange rate of the INS navigation system, You can get the measurement information.
  • step 104 the time synchronization error between the inertial navigation system and the global positioning system is eliminated according to the measurement information to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system.
  • the time synchronization error between the INS navigation system and the GPS navigation system can be obtained according to the measurement information, and then the time synchronization error is eliminated to improve the GPS/INS tight integrated navigation system The time synchronization error is corrected to obtain accurate positioning information.
  • the measurement information can be used to include some error parameters between the INS navigation system and the GPS navigation system.
  • the error parameters include the error between the GPS navigation system and the INS navigation system, such as time synchronization error, positioning position, speed and other errors. .
  • the measurement information can be used to calculate the measurement vector and the error state vector
  • the measurement innovation can be used to update the error state vector to obtain the position, velocity, and attitude error state solution at the target time, as well as the IMU (Inertial Measurement Unit, inertial measurement unit). Unit) zero offset, clock deviation and drift of electronic equipment.
  • IMU Inertial Measurement Unit, inertial measurement unit). Unit
  • the correction method may be to obtain time synchronization error correction values at multiple times, calculate the average value of multiple time synchronization error correction values, and then correct the time synchronization error based on the average value.
  • the time synchronization error can be corrected according to the historical correction method.
  • the GPS/INS tight integrated navigation system After correcting the time synchronization error between the GPS navigation system and the INS navigation system, the GPS/INS tight integrated navigation system can obtain accurate positioning information, thereby improving navigation accuracy and positioning speed.
  • the embodiment of the application obtains the pseudo-range and pseudo-range rate measurement values of the global positioning system, and obtains the pseudo-range and pseudo-range rate predicted values of the inertial navigation system engraved at the same time as the global positioning system.
  • the measured value of the pseudo-range rate and the predicted value of the pseudo-range rate and the predicted value of the pseudo-range rate calculate the measurement information of the combined positioning system of the global positioning system and the inertial navigation system, and compare the inertial navigation system and the global positioning system based on the measurement information.
  • the time synchronization error of the positioning system is eliminated to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system. By eliminating the time synchronization error between the global positioning system and the inertial navigation system, navigation accuracy and positioning speed are improved.
  • FIG. 2 is a schematic diagram of a second flow of the navigation method provided by an embodiment of the present application.
  • the navigation method in the embodiment of the present application eliminates the time synchronization error in the GPS/INS tight integrated navigation system to improve the navigation accuracy and positioning speed of the GPS/INS tight integrated navigation system.
  • step 201 the measured values of the pseudorange and the pseudorange rate of the global positioning system are obtained. This step is the same as step 101 and will not be repeated here.
  • step 202 the system parameters of the combined positioning system of the global positioning system and the inertial navigation system are obtained, and the system parameters include the navigation solution of the inertial navigation system, satellite parameters, clock offset and clock drift.
  • the predicted values of the pseudorange and pseudorange rate of the inertial navigation system cannot be directly output from the inertial navigation processor, and calculations are needed to obtain the predicted values of the pseudorange and pseudorange rate of the inertial navigation system.
  • the satellite parameters include the position and speed of the satellite.
  • step 203 the predicted values of the pseudorange and pseudorange rate of the inertial navigation system at the same time as the global positioning system are calculated according to the system parameters.
  • the current attitude, speed, and position in the inertial navigation system can be obtained by calculating the data output by the inertial measurement unit (IMU), and then the message obtained by the satellite receiving system can be solved to obtain the satellite position, The speed and other information, and finally calculate the pseudorange and the predicted value of the pseudorange rate of the inertial navigation system based on the satellite position, speed and the position and speed information of the inertial navigation system.
  • IMU inertial measurement unit
  • the unit line-of-sight distance vector between the satellite and the user and the navigation solution in the inertial navigation system may be used to obtain the estimated value of the pseudorange and the pseudorange rate of the inertial navigation system.
  • the conversion formula is as follows:
  • Is the first converted value Is the second conversion value
  • ⁇ is the angular velocity vector antisymmetric matrix
  • C is the coordinate conversion matrix
  • L is the phase center lever arm between systems
  • W is the system noise vector
  • the state vector estimated by the inertial navigation system (position vector, velocity vector, partial derivative of time error) is calculated, and the estimated state vector can be used to calculate Output speed, acceleration and jerk.
  • the formula is as follows:
  • u k is the unit line-of-sight distance vector between the satellite and the user.
  • the predicted value of the pseudorange and pseudorange rate of the inertial navigation system is obtained.
  • the obtained pseudorange and pseudorange rate predicted value formulas of the inertial navigation system are as follows:
  • the superscript l represents the lever arm coordinate system, i represents the inertial coordinate system, e represents the geocentric ground-fixed coordinate system, j represents the number of satellites, and a represents the parameters of the satellite attributes , A is acceleration, C is coordinate conversion matrix, U is unit vector and line-of-sight unit vector.
  • step 204 the sampling data of the GPS pseudorange and the pseudorange rate during the sampling period of the inertial navigation system are acquired according to the measured values of the GPS pseudorange and the pseudorange rate and the Taylor formula.
  • the pseudorange and pseudorange rate measured values of the GPS navigation system and the INS navigation system predicted by parameters such as the INS navigation solution
  • time synchronization error There is a time synchronization problem between the pseudorange and pseudorange rate, that is, time synchronization error.
  • the pseudorange and pseudorange rate of the GPS navigation system can be expressed by the following formula:
  • Is the pseudorange measurement value of the GPS navigation system Is the measured value of the pseudorange rate of the GPS navigation system, where ⁇ t is the time synchronization error between the GPS navigation system and the INS navigation system.
  • step 205 the measurement information in the sampling period is acquired according to the sampling data of the GPS pseudorange and pseudorange rate and the sampling data of the inertial navigation system pseudorange and pseudorange rate within the inertial navigation system sampling period.
  • the measured values of the pseudorange and pseudorange rate of the GPS navigation system at a certain moment can be obtained, and the pseudorange and pseudorange rate predicted values of the INS navigation system engraved at the same time as the GPS navigation system can be obtained, and then the The measured value of the pseudorange and the predicted value are made difference, and the measured value of the pseudorange rate and the predicted value are made difference to obtain measurement information.
  • the measurement information matrix obtained is as follows:
  • k is the kth sampling time
  • Z is the measurement vector
  • m is the number of satellites
  • Indicates the measurement information of the pseudorange Indicates the measurement information of the pseudorange rate.
  • the measurement information in the sampling period T s of the INS navigation system may be acquired to analyze the time synchronization error in the sampling period T s of the INS navigation system.
  • step 206 the measurement vector is linearized according to the measurement information and the extended Kalman filter to obtain a measurement matrix.
  • the measurement vector is a non-linear function about the error state vector, which can be linearized by using Extended Kalman filter (EFK, Extended Kalman filter) to grasp the law of sampling data change and obtain the measurement matrix.
  • EK Extended Kalman filter
  • the extended Kalman filter linearization formula for:
  • the pseudorange and pseudorange rate are weakly correlated with attitude error, acceleration zero offset, and gyro zero offset.
  • Pseudorange is also weakly correlated with velocity error, and pseudorange rate with position error. These items are ignored during matrix linearization, and the approximate measurement matrix obtained is:
  • the time synchronization error between the GPS navigation system and the INS navigation system can be obtained according to the approximate measurement matrix.
  • step 207 the time synchronization error between the global positioning system and the inertial navigation system is obtained according to the measurement matrix, and the time synchronization error is eliminated to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system.
  • the time synchronization error between the INS navigation system and the GPS navigation system in the sampling period can be eliminated, so that the GPS/INS tight integrated navigation system can accurately locate.
  • the navigation method can reduce the amount of calculation when calculating the time synchronization error, so as to realize the fast positioning function.
  • the method of correction may be to obtain time synchronization error correction values at multiple times, calculate the average value of multiple time synchronization error correction values, and then correct the time synchronization error according to the average value.
  • the time synchronization error can be corrected according to the historical correction method.
  • the embodiment of the application obtains the pseudorange and pseudorange rate measurement values of the global positioning system, and obtains the pseudorange and pseudorange rate predicted values of the inertial navigation system engraved simultaneously with the global positioning system, according to the global positioning system.
  • the measured values of the pseudo-range and the pseudo-range rate and the Taylor formula acquire the sampling data of the GPS pseudo-range and the pseudo-range rate during the sampling period of the inertial navigation system, according to the global positioning system pseudo-range and the pseudo-range rate
  • the sampling data of the inertial navigation system and the sampling data of the pseudo-range and the pseudo-range rate of the inertial navigation system within the sampling period of the inertial navigation system acquire measurement information during the sampling period.
  • the measurement vector is linearized according to the measurement information and the extended Kalman filter to obtain the measurement moment, and then the time synchronization error between the global positioning system and the inertial navigation system is obtained according to the measurement matrix, and the time synchronization is performed The error is eliminated to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system.
  • FIG. 3 is a schematic diagram of a scene of a navigation method provided by an embodiment of the present application.
  • a three-dimensional fully dynamic carrier motion track including acceleration, deceleration, turning and climbing is designed, and then the time synchronization error and other errors between the INS navigation system and the GPS navigation system are obtained.
  • Max is the maximum error value
  • SD is the average error value
  • Mean is the minimum error value
  • FIG. 4 is an error comparison curve diagram provided by an embodiment of the present application, where curve A is an error curve without compensation for time synchronization error, and curve B is an error curve for compensation for time synchronization error.
  • an embodiment of the present application also provides a navigation device, as shown in FIG. 5 for a first structural diagram of the navigation device.
  • the navigation device includes: a first acquisition module 510, a second acquisition module 520, a calculation module 530, and a correction module 540.
  • the first obtaining module 510 is used to obtain the measured values of the pseudorange and the pseudorange rate of the global positioning system.
  • the first obtaining module 510 may use a first preset algorithm to obtain, for example, code tracking to obtain the pseudorange measurement value in the GPS ranging processor.
  • Obtaining the pseudo-range rate measurement value of the GPS navigation system may be obtained by a second preset algorithm, for example, obtaining the pseudo-range rate measurement value in the GPS ranging processor from the carrier wave. It should be noted that the first preset algorithm and the second preset algorithm are not limited to the aforementioned algorithms.
  • the pseudorange and pseudorange rate in the GPS navigation system may also be measured values actively output by the GPS ranging processor.
  • the second obtaining module 520 is used to obtain the predicted values of the pseudorange and the pseudorange rate of the inertial navigation system at the same time as the global positioning system.
  • the pseudorange and pseudorange rate predicted values of the inertial navigation system at the same time as the global positioning system can be obtained according to the system parameters in the INS navigation system, where the system parameters may include the parameters of the INS navigation system. Inertial navigation solution, estimated clock offset and clock drift, and satellite parameters.
  • the satellite parameters include the position and speed of the satellite calculated by the telegram.
  • the inertial navigation solution of the INS navigation system can be converted by lever arm coordinates to obtain the first conversion value and the second conversion value, according to the first conversion value, the second conversion value and the unit of the satellite and the electronic device
  • the line-of-sight distance vector is used to calculate the pseudorange and pseudorange rate estimates of the INS navigation system.
  • the second obtaining module 520 is specifically configured to obtain the pseudorange measurement value of the global positioning system according to the first preset algorithm, and obtain the pseudorange rate measurement value of the global positioning system according to the second preset algorithm.
  • the second acquisition module 520 also includes an acquisition sub-module 521 and a first calculation sub-module 522.
  • FIG. 6 is a schematic diagram of a second structure of the navigation device according to an embodiment of the present application.
  • the acquisition sub-module 521 is used to acquire system parameters of the combined positioning system of the global positioning system and the inertial navigation system.
  • the system parameters include the navigation solution, satellite parameters, clock offset and clock drift of the inertial navigation system.
  • the predicted values of the pseudorange and pseudorange rate of the inertial navigation system cannot be directly output from the inertial navigation processor, and calculations are needed to obtain the predicted values of the pseudorange and pseudorange rate of the inertial navigation system.
  • the system parameters of the combined positioning system of the global positioning system and the inertial navigation system can be acquired through the acquisition submodule 521. It should be noted that the satellite parameters include parameters such as the position and speed of the satellite.
  • the first calculation sub-module 522 is configured to calculate, according to the system parameters, the predicted values of the pseudorange and the pseudorange rate of the inertial navigation system at the same time as the global positioning system.
  • the first calculation sub-module 522 may be used to calculate the data output by the inertial measurement unit (IMU) to obtain the current attitude, speed, and position in the inertial navigation system, and then to resolve the message obtained by the satellite receiving system Calculate, obtain the satellite position, speed and other information, and finally calculate the pseudorange and pseudorange rate predicted value of the inertial navigation system according to the satellite position, velocity and the position and velocity information of the inertial navigation system.
  • IMU inertial measurement unit
  • the first calculation sub-module 522 may use the unit line-of-sight distance vector between the satellite and the user and the navigation solution in the inertial navigation system to obtain the estimated value of the pseudorange and the pseudorange rate of the inertial navigation system.
  • the conversion formula is as follows:
  • Is the first converted value Is the second conversion value
  • ⁇ is the angular velocity vector antisymmetric matrix
  • C is the coordinate conversion matrix
  • L is the phase center lever arm between systems
  • W is the system noise vector
  • the state vector estimated by the inertial navigation system (position vector, velocity vector, partial derivative of time error) is calculated, and the estimated state vector can be used to calculate Output speed, acceleration and jerk.
  • the formula is as follows:
  • u k is the unit line-of-sight distance vector between the satellite and the user.
  • the predicted value of the pseudorange and pseudorange rate of the inertial navigation system is obtained.
  • the obtained pseudorange and pseudorange rate predicted value formulas of the inertial navigation system are as follows:
  • the superscript l represents the lever arm coordinate system, i represents the inertial coordinate system, e represents the geocentric ground-fixed coordinate system, j represents the number of satellites, and a represents the parameters of the satellite attributes , A is acceleration, C is coordinate transformation matrix, U is unit vector and line-of-sight unit vector.
  • the calculation module 530 is configured to calculate the measurement information of the combined positioning system of the global positioning system and the inertial navigation system according to the measured values of the pseudorange and the pseudorange rate and the predicted values of the pseudorange and the pseudorange rate.
  • the calculation module 530 may obtain the measurement information according to the acquired measured values of the pseudorange and pseudorange rate of the GPS navigation system and the predicted values of the pseudorange and pseudorange rate of the INS navigation system. For example, the difference between the measured value of the pseudorange of the GPS navigation system and the predicted value of the pseudorange of the INS navigation system, and the difference between the measured value of the pseudorange rate of the GPS navigation system and the predicted value of the pseudorange rate of the INS navigation system, You can get the measurement information.
  • the calculation module 530 includes a sampling sub-module 531 and a second calculation sub-module 532.
  • the sampling sub-module 531 is configured to obtain sampling data of the GPS pseudorange and pseudorange rate in the inertial navigation system sampling period according to the measured values of the GPS pseudorange and pseudorange rate and Taylor formula .
  • the pseudorange and pseudorange rate measured values of the GPS navigation system and the INS navigation system predicted by parameters such as the INS navigation solution
  • time synchronization error There is a time synchronization problem between the pseudorange and pseudorange rate, that is, time synchronization error.
  • T s is the sampling period of the INS navigation system
  • the pseudorange and pseudorange rate of the system can be expressed by the following formula:
  • the pseudorange and pseudorange rate of the GPS navigation system can be expressed by the following formula:
  • Is the pseudorange measurement value of the GPS navigation system Is the measured value of the pseudorange rate of the GPS navigation system, where ⁇ t is the time synchronization error between the GPS navigation system and the INS navigation system.
  • the second calculation sub-module 532 acquires the sampling data based on the sampling data of the GPS pseudorange and the pseudorange rate and the sampling data of the inertial navigation system pseudorange and the pseudorange rate during the sampling period of the inertial navigation system. Measurement information during the period.
  • the measured values of the pseudorange and pseudorange rate of the GPS navigation system at a certain moment can be obtained, and the pseudorange and pseudorange rate predicted values of the INS navigation system engraved at the same time as the GPS navigation system can be obtained, and then the The measured value of the pseudorange and the predicted value are made difference, and the measured value of the pseudorange rate and the predicted value are made difference to obtain measurement information.
  • the measurement information matrix obtained is as follows:
  • k is the kth sampling time
  • Z is the measurement vector
  • m is the number of satellites
  • Indicates the measurement information of the pseudorange Indicates the measurement information of the pseudorange rate.
  • the measurement information in the sampling period T s of the INS navigation system may be acquired to analyze the time synchronization error in the sampling period T s of the INS navigation system.
  • the correction module 540 is configured to eliminate the time synchronization error between the inertial navigation system and the global positioning system according to the measurement information, so as to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system.
  • the correction module 540 includes an analysis sub-module 541 and a correction sub-module 542.
  • the analysis sub-module 541 is configured to linearize the measurement vector according to the measurement information and the extended Kalman filter to obtain a measurement matrix.
  • the measurement vector is a non-linear function about the error state vector.
  • the analysis sub-module 541 can use the extended Kalman filter (EFK, Extended Kalman filter) to linearize it to grasp the law of sampling data change, and obtain the measurement matrix.
  • EK Extended Kalman filter
  • the filter linearization formula is:
  • the pseudorange and pseudorange rate are weakly correlated with attitude error, acceleration zero offset, and gyro zero offset.
  • Pseudorange is also weakly correlated with velocity error, and pseudorange rate with position error. These items are ignored during matrix linearization, and the approximate measurement matrix obtained is:
  • the time synchronization error between the GPS navigation system and the INS navigation system can be obtained according to the approximate measurement matrix.
  • a correction sub-module 542 which obtains the time synchronization error between the global positioning system and the inertial navigation system according to the measurement matrix, and eliminates the time synchronization error to correct the global positioning system and the inertial navigation system combined positioning system Positioning.
  • the correction sub-module 542 can eliminate the time synchronization error between the INS navigation system and the GPS navigation system in the sampling period, so that the GPS/INS tight integrated navigation system can accurately locate.
  • the navigation method described in the application embodiment can reduce the amount of calculation when calculating the time synchronization error, thereby realizing the fast positioning function.
  • the method of correction may be to obtain time synchronization error correction values at multiple times, calculate the average value of multiple time synchronization error correction values, and then correct the time synchronization error according to the average value.
  • the time synchronization error can be corrected according to the historical correction method.
  • the embodiment of the application obtains the pseudo-range and pseudo-range rate measurement values of the global positioning system, and obtains the pseudo-range and pseudo-range rate predicted values of the inertial navigation system engraved at the same time as the global positioning system.
  • the measured value of the pseudo-range rate and the predicted value of the pseudo-range rate and the predicted value of the pseudo-range rate calculate the measurement information of the combined positioning system of the global positioning system and the inertial navigation system, and compare the inertial navigation system and the global positioning system based on the measurement information.
  • the time synchronization error of the positioning system is eliminated to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system. By eliminating the time synchronization error between the global positioning system and the inertial navigation system, navigation accuracy and positioning speed are improved.
  • an embodiment of the present application further provides an electronic device, including a processor and a memory, the memory stores a plurality of instructions, and the processor loads the instructions in the memory to perform the following steps:
  • the time synchronization error between the inertial navigation system and the global positioning system is eliminated according to the measurement information to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system.
  • the processor is configured to perform the following steps when acquiring the pseudorange and pseudorange rate measurement values of the global positioning system:
  • the processor when acquiring the predicted values of the pseudorange and pseudorange rate of the inertial navigation system at the same time as the global positioning system, the processor is configured to perform the following steps:
  • the system parameters including the navigation solution, satellite parameters, clock offset and clock drift of the inertial navigation system;
  • the processor when calculating the pseudorange and pseudorange rate predicted values of the inertial navigation system at the same time as the global positioning system based on the system parameters, the processor is configured to perform the following steps:
  • the predicted value of the pseudorange and pseudorange rate of the inertial navigation system simultaneously engraved with the global positioning system is calculated according to the first conversion value, the second conversion value, and the unit line-of-sight distance vector of the satellite and the electronic device.
  • the processor when lever arm coordinate conversion is performed on the navigation solution of the inertial navigation system to obtain the first conversion value and the second conversion value, the processor is configured to perform the following steps:
  • the navigation solution of the inertial navigation system is converted by lever arm coordinates to obtain the first conversion value and the second conversion value.
  • the conversion formula is as follows:
  • Is the first converted value Is the second conversion value
  • ⁇ is the angular velocity vector antisymmetric matrix
  • C is the coordinate conversion matrix
  • L is the phase center lever arm between systems
  • W is the system noise vector
  • the processor when the measurement information of the combined positioning system of the global positioning system and the inertial navigation system is calculated according to the measured values of the pseudorange and the pseudorange rate and the predicted values of the pseudorange and the pseudorange rate, the processor is used to execute the following steps:
  • the measurement information in the sampling period is acquired according to the sampling data of the global positioning system pseudorange and the pseudorange rate and the sampling data of the inertial navigation system pseudorange and the pseudorange rate within the sampling period of the inertial navigation system.
  • the time synchronization error of the combined positioning system of the global positioning system and the inertial navigation system is eliminated according to the measurement information to correct the positioning time of the combined positioning system of the global positioning system and the inertial navigation system ,
  • the processor is configured to execute the following steps:
  • the time synchronization error between the global positioning system and the inertial navigation system is obtained according to the measurement matrix, and the time synchronization error is eliminated to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system.
  • the terminal may include a display unit 701, an input unit 702, a memory 703 including one or more computer-readable storage media, a processor 704 including one or more processing cores, a power supply 705, and Sensor 706 and other components.
  • a display unit 701 including one or more computer-readable storage media
  • a processor 704 including one or more processing cores
  • a power supply 705 including one or more power supply 705, and Sensor 706 and other components.
  • the structure of the electronic device shown in FIG. 7 does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure, or a combination of certain components, or different component arrangements. among them:
  • the display unit 701 may be used to display information input by the user or information provided to the user and various graphical user interfaces of the terminal. These graphical user interfaces may be composed of graphics, text, icons, videos, and any combination thereof.
  • the display unit 701 may include a display panel.
  • the display panel may be configured in the form of a liquid crystal display (LCD, Liquid Crystal Display), an organic light emitting diode (OLED, Organic Light-Emitting Diode), etc.
  • the touch-sensitive surface can cover the display panel. When the touch-sensitive surface detects a touch operation on or near it, it is transmitted to the processor 704 to determine the type of the touch event, and then the processor 704 displays the display panel according to the type of the touch event.
  • Corresponding visual output is provided on the panel.
  • the touch-sensitive surface and the display panel are used as two independent components to realize the input and input functions, in some embodiments, the touch-sensitive surface and the display panel can be integrated to realize the input and output functions.
  • the input unit 702 can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.
  • the input unit 702 may include a touch-sensitive surface and other input devices.
  • a touch-sensitive surface also called a touch screen or a touchpad, can collect the user's touch operations on or near it (for example, the user uses any suitable objects or accessories such as fingers, stylus, etc.) on the touch-sensitive surface or on the touch-sensitive surface. Operation near the surface), and drive the corresponding connection device according to the preset program.
  • the touch-sensitive surface may include two parts: a touch detection device and a touch controller.
  • the touch detection device detects the user's touch position, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into contact coordinates, and then sends it To the processor 704, and can receive and execute the commands sent by the processor 704.
  • multiple types such as resistive, capacitive, infrared, and surface acoustic waves can be used to realize touch-sensitive surfaces.
  • the input unit 702 may also include other input devices. Specifically, other input devices may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control buttons, switch buttons, etc.), trackball, mouse, and joystick.
  • the memory 703 may be used to store software programs and modules, and the processor 608 executes various functional applications and data processing by running the software programs and modules stored in the memory 703.
  • the memory 703 may mainly include a program storage area and a data storage area.
  • the program storage area may store an operating system, an application program required by at least one function (such as a sound playback function, an image playback function, etc.), etc.;
  • the data (such as audio data, phone book, etc.) created by the use of the terminal, etc.
  • the memory 703 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.
  • the memory 703 may further include a memory controller to provide the processor 703 and the input unit 702 to access the memory 703.
  • the processor 704 is the control center of the terminal. It uses various interfaces and lines to connect various parts of the entire mobile phone, and executes by running or executing software programs and/or modules stored in the memory 703, and calling data stored in the memory 703. Various functions of the terminal and processing data, so as to monitor the mobile phone as a whole.
  • the processor 704 may include one or more processing cores; preferably, the processor 704 may integrate an application processor and a modem processor, where the application processor mainly processes the operating system, user interface, and application programs, etc. , The modem processor mainly deals with wireless communication. It can be understood that the foregoing modem processor may not be integrated into the processor 704.
  • the terminal also includes a power source 705 (such as a battery) for supplying power to various components.
  • the power source can be logically connected to the processor 704 through a power management system, so that functions such as charging, discharging, and power consumption management can be managed through the power management system.
  • the power supply 705 may also include one or more DC or AC power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and any other components.
  • the terminal may also include at least one sensor 706, such as a light sensor, a motion sensor, and other sensors.
  • the light sensor may include an ambient light sensor and a proximity sensor, where the ambient light sensor can adjust the brightness of the display panel according to the brightness of the ambient light, and the proximity sensor can turn off the display panel and/or backlight when the terminal is moved to the ear .
  • the gravity acceleration sensor can detect the magnitude of acceleration in various directions (usually three-axis), and can detect the magnitude and direction of gravity when it is stationary.
  • the terminal may also include a camera, a Bluetooth module, etc., which will not be repeated here.
  • the processor 704 in the terminal loads the executable file corresponding to the process of one or more application programs into the memory 703 according to the following instructions, and the processor 704 runs and stores the executable file in the memory 703 Applications in 703 to achieve various functions:
  • the time synchronization error between the inertial navigation system and the global positioning system is eliminated according to the measurement information to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system.
  • an embodiment of the present application provides a storage medium in which multiple instructions are stored, and the instructions can be loaded by a processor to execute the steps in any navigation method provided in the embodiments of the present application.
  • the instruction can perform the following steps:
  • the time synchronization error between the inertial navigation system and the global positioning system is eliminated according to the measurement information to correct the positioning of the combined positioning system of the global positioning system and the inertial navigation system.
  • the storage medium may include: read only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, etc.
  • the instructions stored in the storage medium can execute the steps in any navigation method provided in the embodiments of the present application, the beneficial effects that can be achieved by any navigation method provided in the embodiments of the present application can be achieved , Please refer to the previous embodiment for details, which will not be repeated here.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un procédé de navigation, un appareil de navigation, un dispositif électronique et un support de stockage. Le procédé de navigation comprend les étapes consistant à : obtenir des valeurs mesurées d'une pseudo-distance et d'une pseudo-variation de distance d'un système GPS (101) ; obtenir des valeurs prédites d'une pseudo-distance et d'une pseudo-variation de distance d'un système de navigation inertielle au même moment que pour le système GPS (102) ; calculer des informations de mesure d'un système de positionnement combiné associant le système GPS et le système de navigation inertielle en fonction des valeurs mesurées de la pseudo-distance et de la pseudo-variation de distance et des valeurs prédites de la pseudo-distance et de la pseudo-variation de distance (103) ; et éliminer une erreur de synchronisation temporelle entre le système de navigation inertielle et le système GPS conformément aux informations de mesure afin de corriger le positionnement du système de positionnement combiné associant le système GPS et le système de navigation inertielle (104). La précision de navigation et la vitesse de positionnement sont améliorées.
PCT/CN2020/106747 2019-08-14 2020-08-04 Procédé de navigation, appareil, dispositif électronique et support de stockage WO2021027621A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910749943.7A CN112394377A (zh) 2019-08-14 2019-08-14 导航方法、装置、电子设备及存储介质
CN201910749943.7 2019-08-14

Publications (1)

Publication Number Publication Date
WO2021027621A1 true WO2021027621A1 (fr) 2021-02-18

Family

ID=74569529

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/106747 WO2021027621A1 (fr) 2019-08-14 2020-08-04 Procédé de navigation, appareil, dispositif électronique et support de stockage

Country Status (2)

Country Link
CN (1) CN112394377A (fr)
WO (1) WO2021027621A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114593750A (zh) * 2022-03-08 2022-06-07 长沙学院 一种单星伪距的测姿标校方法

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002099453A2 (fr) * 2001-06-04 2002-12-12 Novatel Inc. Systeme de navigation par inertie/gps
CN102353970A (zh) * 2011-06-10 2012-02-15 北京航空航天大学 一种高抗干扰性能gps/sins组合导航系统及实现方法
CN103792561A (zh) * 2014-02-21 2014-05-14 南京理工大学 一种基于gnss通道差分的紧组合降维滤波方法
CN104931995A (zh) * 2015-06-12 2015-09-23 南京理工大学 一种基于矢量跟踪的gnss/sins深组合导航方法
CN105068102A (zh) * 2015-08-11 2015-11-18 南京理工大学 一种基于dsp+fpga的超紧组合导航方法
CN105424041A (zh) * 2016-01-18 2016-03-23 重庆邮电大学 一种基于bd/ins紧耦合的行人定位算法
CN106767787A (zh) * 2016-12-29 2017-05-31 北京时代民芯科技有限公司 一种紧耦合gnss/ins组合导航装置
CN107037469A (zh) * 2017-04-11 2017-08-11 北京七维航测科技股份有限公司 基于安装参数自校准的双天线组合惯导装置
CN108226980A (zh) * 2017-12-23 2018-06-29 北京卫星信息工程研究所 基于惯性测量单元的差分gnss与ins自适应紧耦合导航方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1361433A (zh) * 2000-12-23 2002-07-31 林清芳 运载体的全融合定位方法
JP3875714B2 (ja) * 2006-03-09 2007-01-31 三菱電機株式会社 移動体加速度・距離推定回路、移動体測位装置及び移動体測位方法
CN102508277A (zh) * 2011-10-27 2012-06-20 中国矿业大学 精密单点定位与惯性测量紧组合导航系统及数据处理方法
CN105806339B (zh) * 2016-05-14 2018-09-25 中卫物联成都科技有限公司 一种基于gnss、ins和守时系统的组合导航方法和设备
CN108931791B (zh) * 2017-05-24 2021-03-02 广州海格通信集团股份有限公司 卫惯紧组合钟差修正系统和方法
CN109341684A (zh) * 2018-11-29 2019-02-15 北京七维航测科技股份有限公司 组合惯导设备
CN109884680B (zh) * 2019-03-22 2023-11-03 内蒙古工业大学 基于多核dsp的北斗_sins紧组合导航系统及方法

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002099453A2 (fr) * 2001-06-04 2002-12-12 Novatel Inc. Systeme de navigation par inertie/gps
CN102353970A (zh) * 2011-06-10 2012-02-15 北京航空航天大学 一种高抗干扰性能gps/sins组合导航系统及实现方法
CN103792561A (zh) * 2014-02-21 2014-05-14 南京理工大学 一种基于gnss通道差分的紧组合降维滤波方法
CN104931995A (zh) * 2015-06-12 2015-09-23 南京理工大学 一种基于矢量跟踪的gnss/sins深组合导航方法
CN105068102A (zh) * 2015-08-11 2015-11-18 南京理工大学 一种基于dsp+fpga的超紧组合导航方法
CN105424041A (zh) * 2016-01-18 2016-03-23 重庆邮电大学 一种基于bd/ins紧耦合的行人定位算法
CN106767787A (zh) * 2016-12-29 2017-05-31 北京时代民芯科技有限公司 一种紧耦合gnss/ins组合导航装置
CN107037469A (zh) * 2017-04-11 2017-08-11 北京七维航测科技股份有限公司 基于安装参数自校准的双天线组合惯导装置
CN108226980A (zh) * 2017-12-23 2018-06-29 北京卫星信息工程研究所 基于惯性测量单元的差分gnss与ins自适应紧耦合导航方法

Also Published As

Publication number Publication date
CN112394377A (zh) 2021-02-23

Similar Documents

Publication Publication Date Title
CN110133582B (zh) 补偿电磁跟踪系统中的畸变
US11971498B2 (en) Hybrid positioning method, electronic apparatus and computer-readable recording medium thereof
US9316513B2 (en) System and method for calibrating sensors for different operating environments
US8957909B2 (en) System and method for compensating for drift in a display of a user interface state
US20210206390A1 (en) Positioning method and apparatus, vehicle device, and autonomous vehicle
CN109798891B (zh) 基于高精度动作捕捉系统的惯性测量单元标定系统
WO2013148588A1 (fr) Gestion de la consommation de puissance d'un dispositif pourvu d'un gyroscope
JP2021177168A (ja) 車両のデッドレコニング方法、装置、デバイス、記憶媒体、及びプログラム
TWI584157B (zh) 移動設備及求取移動設備姿態之方法
US9228842B2 (en) System and method for determining a uniform external magnetic field
JP2012194175A (ja) 姿勢判定方法、位置算出方法及び姿勢判定装置
CN102449436A (zh) 用于通过补偿信号通道之间的相对处理延迟来准确捕获惯性传感器数据的方法和装置
CN112738886B (zh) 定位方法、装置、存储介质及电子设备
US20210356605A1 (en) Method, apparatus, device and medium for calibrating temperature drift
EP2972683B1 (fr) Étalonnage dynamique de capteurs magnétiques
CN111796665B (zh) 修正畸变
WO2021027621A1 (fr) Procédé de navigation, appareil, dispositif électronique et support de stockage
CN113295174A (zh) 一种车道级定位的方法、相关装置、设备以及存储介质
CN110487269A (zh) Gps/ins组合导航方法、装置、存储介质与电子设备
TWI472953B (zh) 慣性感測輸入裝置、系統及其方法
JP6250708B2 (ja) 進行方向情報出力装置、マップマッチング装置、進行方向情報出力方法、およびプログラム
JP6972761B2 (ja) 情報処理装置、およびプログラム
CN116359962A (zh) 估计位置修正方法、装置、终端和存储介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20853125

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20853125

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 20853125

Country of ref document: EP

Kind code of ref document: A1