Error correction method, device and system for inertial navigation system

Abstract

Embodiments of the present invention provide an error correction method, device, and system for an inertial navigation system. The inertial navigation system corrects the positioning parameters of a moving object based on a navigation map and GPS to achieve inertial navigation recursion. The method includes: The current positioning parameters of the mobile object, the map reference positioning parameters, and the GPS reference positioning parameters determine the working status of the inertial navigation system; if it is determined that the inertial navigation system is in an abnormal working state, then use the GPS reference positioning parameters to update the inertial navigation system The inertial navigation initial parameters, and reset the inertial navigation system to the initial state. It reduces the map deviation caused by the untimely update of the road network information of the navigation map or the inaccurate surveying and mapping, and the wrong matching of the navigation system caused by it will greatly improve the accuracy of the inertial navigation.

Description

technical field [0001] The invention relates to the field of electronic technology, in particular to an error correction method, device and system for an inertial navigation system. Background technique [0002] Inertial navigation systems or their equivalents may also be referred to as inertial guidance systems, inertial reference platforms, etc. Typically, an inertial navigation system has an arithmetic unit and multiple motion sensors, such as gyroscopes and accelerometers, to continuously calculate the position, orientation, velocity, and other positioning information of moving objects. By inputting initial navigation information and adding motion information of the moving object measured by the motion sensor, such as linear velocity and angular velocity, to the initial navigation information, updated navigation information of the moving object is obtained through calculation. However, the accuracy error and measurement error of the motion sensor will gradually accumula...

AI Technical Summary

Problems solved by technology

Although the inertial navigation system can greatly improve the recursive performance of the inertial navigation system through map assistance, the map deviation caused by the untimely update of the road network information of the navigation map or inaccurate surveying and mapping will cause the inertial navigation system to generate a wrong match. Failure to identify the above errors in time will greatly reduce the accuracy of navigation

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