Combined navigation unit and implementing method thereof

A technology of combined navigation and implementation methods, applied in measurement devices, services based on location information, advanced technologies, etc., can solve problems such as inaccurate positioning, and achieve the effects of complete functions, rich interfaces, and low power consumption

Active Publication Date: 2012-11-28
SOUTHEAST UNIV
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Problems solved by technology

[0005] The main purpose of the present invention is to propose a device and implementation method of (MINS / CDMA mobile phone network / geomagnetic compass / GPS) combined navigation, this navigation device and method overcomes the lack of accurate positioning that traditional GPS / MINS navigation methods often cannot locate due to occlusion , when the GPS signal cannot be positioned accurately due to occlusion, continue to use the MINS / geomagnetic compass / CDMA mobile phone network for combined positioning, so as to provide a wider coverage, higher reliability and more accurate positioning services

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  • Combined navigation unit and implementing method thereof
  • Combined navigation unit and implementing method thereof
  • Combined navigation unit and implementing method thereof

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Embodiment Construction

[0061] The technical scheme of the invention will be described in detail below in conjunction with the drawings:

[0062] A (MINS / GPS / CDMA mobile phone network / geomagnetic compass) combined navigation device and method according to an embodiment of the present invention analyzes GPS navigation data by receiving GPS signals, and performs triangulation through the arrival time difference of the CDMA mobile phone network pilot signals. The inertial navigation data collected by the acquisition module in real time, the geomagnetic data is collected through the geomagnetic compass, and the heading angle of the carrier is determined in real time. According to GPS signal strength and CDMA mobile phone network signal strength, press Figure Four The method shown dynamically determines the distribution coefficient of inertial navigation information in each sub-filter, and uses the federated Kalman filter in the navigation computer to perform MINS micro-inertial navigation data, GPS satellit...

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Abstract

The invention discloses a combined navigation unit and an implementing method thereof. The unit comprises an MINS, a geomagnetic compass heading system, a GPS, and a CDMA mobile phone network positioning system. The method comprises that: a navigation computer synchronously receives navigation data of the GPS, dead reckoning data of the MINS, data of the CDMA mobile phone network positioning system and data of the geomagnetic compass heading system from four RS232 serial ports by utilizing a time synchronization module, and performs real-time and adaptive combined navigation according to the carrier-to-noise ratio of GPS signals and the quality of CDMA mobile phone network signals; and finally, the navigation computer displays the final navigation data in real time through a navigation data display module. The combined navigation unit has the advantages of small volume, low power consumption, low cost, complete functions, plenty interfaces, and capacity of completely meeting the requirements on medium and low-precision positioning and orientation of urban ground transportation, navigation, small intelligent robots and the like.

Description

Technical field [0001] The invention relates to a navigation device and an implementation method of a combination of four navigation modes: GPS navigation, inertial navigation, CDMA mobile phone network, and geomagnetic compass, and belongs to the technical field of navigation positioning devices and implementation methods with medium and low precision requirements such as urban traffic and navigation. Background technique [0002] The basic principle of inertial navigation is based on the laws of Newton’s mechanics. By measuring the acceleration and angular velocity of the carrier in the inertial reference frame, integrating them over time, and transforming it into the navigation coordinate system, the velocity in the navigation coordinate system can be obtained. , Position and attitude angle information, etc. Therefore, it is an autonomous navigation system that does not rely on any external information and does not radiate energy. With good concealment, its working environmen...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04W4/02H04W64/00G01S5/02
CPCY02D30/70
Inventor 陈熙源王熙嬴虞婧祝雪芬方琳
Owner SOUTHEAST UNIV
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