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Navigation and positioning method and device for a moving 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 large amount of calculation

Active Publication Date: 2019-10-25
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing solution is to prevent the deterioration of navigation performance 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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  • Navigation and positioning method and device for a moving carrier
  • Navigation and positioning method and device for a moving carrier
  • Navigation and positioning method and device for a moving 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. Although 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 for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0090] A navigation and positioning method for a moving carrier provided by an embodiment of the present invention is applied to a city navigation device, and the city navigation device communicates with a MEMS-INS and a global positioning system (GPS). refer to figure 1 As shown, the moving carrier navigation and positioning method provided by the embodiment of the present invention includes:

[0091] S101: identifying whether th...

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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 invention relates to the technical field of navigation, in particular to a navigation and positioning method and device for a moving carrier. Background technique [0002] Vehicle navigation applications require the navigation system to provide high-precision position, velocity and attitude information. In urban car navigation, affected by the manufacturing process, the low-cost micro-electromechanical system (Micro Electro Mechanical System, MEMS)-inertial navigation system (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 good 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 MEM...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01S19/40G01S19/49
CPCG01C21/165G01S19/40G01S19/49
Inventor 丛丽秦红磊刘璐琦王音心
Owner BEIHANG UNIV
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