Inertial navigation method, electronic equipment, storage medium and computer program product

Abstract

The invention provides an inertial navigation method, electronic equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring acceleration and angular velocity output by an inertial measurement unit, and generating a state propagation equation of extended Kalman filtering based on a kinematic model of the inertial measurement unit; based on the state propagation equation, performing state prediction on the target equipment deployed with the inertial measurement unit to obtain a state prediction value; inputting the acceleration and the angular velocity into a target prediction model, performing observation noise covariance prediction, and obtaining an observation noise covariance output by the target prediction model; and constructing a state updating equation of extended Kalman filtering based on the observation noise covariance, and updating the state prediction value based on the state updating equation to obtain a state optimization value for navigation positioning. According to the method, the accuracy of Kalman filtering can be improved through deep learning, so that the more accurate observation noise covariance is obtained, and the positioning precision of the inertial measurement unit is improved.

Description

technical field [0001] The present invention relates to the technical field of positioning and navigation, in particular to an inertial navigation method, electronic equipment, storage media and computer program products. Background technique [0002] Positioning and navigation is the basis for the target device to achieve various tasks, especially in the field of vehicles, the realization of high-precision positioning has always been an important prerequisite and task for safe driving of vehicles. [0003] At present, the mainstream method of positioning and navigation is to obtain positioning data by fusing the data obtained by the global navigation satellite system and the inertial measurement unit sensor. However, this integrated navigation solution relies heavily on GNSS signals, and in some areas where GNSS signals are degraded, such as cities with high-rise buildings, tunnels and mountainous areas, GNSS signals are weak, resulting in greatly reduced positioning accura...

AI Technical Summary

Problems solved by technology

[0005] The present invention provides an inertial navigation method, electronic equipment, storage media and computer program products, which are used to solve the defect of low positioning accuracy in the prior art when the global navigation satellite system signal disappears, and realize high-precision positioning

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