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Method and device for navigating and positioning motion carrier

A motion carrier, navigation and positioning technology, applied in the field of navigation, can solve the problems of poor model environment adaptability, limited navigation error control, and poor real-time performance.

Active Publication Date: 2017-05-17
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing solution is to prevent the navigation performance from deteriorating during interruption by modeling the inertial sensor error in the MEMS-INS system, but the existing solution has a large amount of calculation, poor real-time performance, and poor adaptability to the model environment. Resulting in limited control over navigation errors

Method used

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  • Method and device for navigating and positioning motion carrier
  • Method and device for navigating and positioning motion carrier
  • Method and device for navigating and positioning motion carrier

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Embodiment Construction

[0089] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be more thoroughly understood, and will fully convey the scope of the present disclosure to those skilled in the art.

[0090] The embodiment of the present invention provides a method for navigating and positioning a motion carrier, which is applied to an urban navigation device that communicates with MEMS-INS and global positioning system GPS. refer to figure 1 As shown, the motion carrier navigation and positioning method provided by the embodiment of the present invention includes:

[0091] S101: Identify whether the signal is currently...

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Abstract

The invention discloses a method and a device for navigating and positioning a motion carrier. The method comprises the following steps: identifying whether a global positioning system (GPS) is in a signal interruption state or not; if the GPS is identified to be in the signal interruption state, positioning based on a motion model corresponding to the current motion state of the motion carrier, and calculating calculation positioning information; and amending carrier positioning information from MEMS-INS through the calculation positioning information so as to obtain amended carrier positioning information. When GPS signals are interrupted, positioning errors for the motion carrier can be more efficiently, more simply and more conveniently amended in comparison with a complex non-linear model, so that the accumulation of positioning errors is avoided, and the positioning errors during GPS signal interruption are reduced.

Description

technical field [0001] The present invention relates to the technical field of navigation, in particular to a method and device for navigation and positioning of a motion carrier. Background technique [0002] In-vehicle navigation applications require the navigation system to provide high-precision position, speed and attitude information. In the urban vehicle navigation, affected by the manufacturing process, the low-cost Micro Electro Mechanical System (MEMS)-Inertial Navigation System (INS) has low precision, and its error accumulates seriously over time. This problem is particularly prominent. The GPS receiver can provide more accurate position and velocity information under the condition of better satellite visibility to correct the positioning error of MEMS-INS. [0003] However, the vehicle is prone to GPS signal interruption due to the occlusion of buildings in the urban environment. At this time, the rapid drift error of the MEMS-INS will rapidly deteriorate the ...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01S19/40G01S19/49
Inventor 丛丽秦红磊刘璐琦王音心
Owner BEIHANG UNIV
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