Inertial navigation positioning method and system based on differential GPS

Abstract

The invention discloses an inertial navigation positioning method and system based on differential GPS. The method comprises S1, building a positioning coordinate relation model of inertial navigation positioning coordinates and differential GPS positioning coordinates of a moving target based on inertial navigation origin orientation parameters, and determining inertial navigation origin orientation parameters according to test data of the inertial navigation positioning coordinates and differential GPS positioning coordinates of the moving target, and S2, in the real-time positioning, acquiring current inertial navigation positioning coordinates of the moving target in real time, calculating corresponding differential GPS positioning coordinate outputs according to the inertial navigation origin orientation parameters, and correcting correct inertial navigation positioning coordinates. The system includes an inertial navigation positioning device, a differential GPS positioning device, an origin parameter determination module and a positioning data correction module. The inertial navigation positioning method and system can select the position and direction of the original point at random in inertial navigation initialization. In use of multiple inertial navigation devices, the inertial navigation device initialization conformity is avoided. The method and system have the advantages of simple implementation, high positioning accuracy and high reliability.

Description

technical field [0001] The invention relates to the technical field of dynamic moving target positioning, in particular to a differential GPS-based inertial navigation positioning method and system suitable for dynamic moving targets. Background technique [0002] Target positioning is to measure the position information of the measurement target. There are more and more targets that need to be accurately positioned in various fields, so higher-level requirements are put forward for the problem of target positioning, especially for the precise positioning of dynamic moving targets. . The inertial navigation system (INS) is a navigation parameter calculation system based on gyroscopes and accelerometers as sensitive devices. The system establishes a navigation coordinate system based on the output of the gyroscope, and then calculates the velocity and position of the carrier in the navigation coordinate system based on the output of the accelerometer. , for dead reckoning na...

AI Technical Summary

Problems solved by technology

In order to more intuitively grasp the position of the moving target carrying the inertial navigation, the origin and direction selected during the initialization of the inertial navigation must match the actual environment as much as possible, otherwise it will increase the difficulty of tracking, making it impossible to arbitrarily select the origin of the inertial navigation initialization The position and direction increase the difficulty of initialization and reduce the flexibility of the system;

[0005] (2) It is difficult to keep the positioning coordinates consistent

In multi-inertial navigation applications, the origin and direction must be the same when multiple inertial navigation units are initialized to maintain the consistency of the positioning coordinates of each inertial navigation unit. However, no matter how the inertial navigation units are placed, it is impossible to avoid There are deviations in the origin and direction, and it takes a long time to prepare for the initial alignment. In addition, it is easy to cause serious consequences that cannot be recovered due to unexpected situations, such as system reset. Initialization, the above problems will lead to inconsistencies between the positioning coordinates of each inertial navigation, making it impossible to accurately grasp the positions of multiple moving targets;

[0006] Some practitioners have proposed a collaborative positioning technology that combines inertial navigation with satellite positioning system, electronic compass and barometer. Too many, and there are certain errors in their respective outputs. For example, the positioning accuracy of the commonly used GPS technology has meter-level errors, which cannot meet the high requirements of precise positioning for dynamic moving targets. The electronic compass is easily affected by the electromagnetic environment and metal, and the air pressure of the barometer is easily affected. Affected by temperature changes, there are still deviations in the origin and direction of multiple inertial navigation systems, and the stability and reliability of the system are also subject to certain restrictions

[0007] Combining inertial navigation with UWB collaborative positioning can solve the problem of serious distrust of position information after a long period of time caused by inertial navigation sensor drift and cumulative errors in closed spaces without GPS calibration commonly used on the ground or in the air, but does not involve inertial navigation. Initialization problem, and multiple base stations and other supporting facilities with known locations must be installed in a closed space in advance, which cannot adapt to outdoor positioning conditions and poor mobility

For example, the patent application CN1061123895A discloses a method and system for positioning the origin of inertial navigation based on UWB ranging, which can make the initialization of inertial navigation flexible and convenient. When there are multiple inertial navigation devices, it is not necessary to maintain the consistency of multiple inertial navigation devices during initialization. It can be easily applied to various indoor and outdoor environments; however, the environment of mobile personnel carrying inertial navigation in this scheme is determined by two UWB anchor nodes that can be placed at will, and mobile personnel cannot accurately judge the direction. And the position on the plane map needs to match the actual position by setting the control terminal, the operation is more complicated

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