89results about How to "Improve navigation accuracy" patented technology

The invention discloses an unmanned aerial vehicle route planning and dynamic management and control method for an urban low-altitude airspace, and relates to the technical field of unmanned aerial vehicle route planning and dynamic management and control, and the method comprises the steps: dividing the low-altitude airspace into a basic flight layer, a buffer anti-collision layer and an emergency guarantee layer in the vertical direction; setting different air route grades and limitation rules in different areas in the horizontal direction; generating a basic airway network skeleton and performing structure optimization; obtaining the operation state and environment updating data of the unmanned aerial vehicle; semantic annotation is carried out on each leg and node in the basic airway network skeleton, and airspace regulations, supervision rules, flight limiting areas, temporary control areas and recommended flight corridor information are embedded into a semantic layer of the airway network; and inputting the basic airway network skeleton, the semantic annotation information and the real-time monitoring data into an urban low-altitude airspace management and decision-making platform. According to the invention, cooperative scheduling and avoidance among multiple unmanned aerial vehicles are realized, and the operation efficiency of an air route network and the cooperative work capability of the unmanned aerial vehicles are improved.

The invention discloses a multi-mode adaptive fusion navigation positioning method and system in a satellite navigation denial environment, the system adopts GNSS / IMU / visual sensors, and the method comprises the following steps: receiving data of the three sensors and completing modeling; initializing the three sensors; judging the strength of the GNSS signal by utilizing chi-square test; optimization variables are set, a residual matrix is constructed, and nonlinear optimization is carried out; setting a GNSS trust factor when the GNSS signal is weak or denial, and calculating a weight; and weighting and fusing sensor data, outputting optimal state estimation of the system, and realizing continuous navigation and positioning. According to the method, a self-adaptive weight adjustment mechanism is established, GNSS trust factors are introduced, and the weights of multi-sensor data are adjusted in a self-adaptive manner, so that the positioning difficulty under the conditions that the GNSS is subjected to deception interference, suppression interference, building blocking and the like can be overcome, and continuous navigation positioning of an unmanned system (such as a robot, an unmanned vehicle, an unmanned aerial vehicle, an unmanned ship, an unmanned underwater vehicle and the like) is realized.

The invention discloses a cleaning robot navigation system, which comprises a central control unit, a sensor module, a motion control system, a cleaning assembly, a communication assembly, a safety and diagnosis module and a battery and power supply management module, and is characterized in that the sensor module comprises a laser radar, an ultrasonic sensor, a visual camera and an inertial measurement unit; the laser radar is used for environment scanning and obstacle detection, the ultrasonic sensor is used for close-range obstacle detection, the visual camera is used for image processing and ground analysis, and the inertial measurement unit is used for attitude and position detection. A series of innovative technologies such as advanced sensor technology, data fusion, path planning, dynamic obstacle avoidance, cleaning task optimization and the like are combined, and a plurality of problems faced by an existing cleaning robot are solved. According to the technical scheme, the cleaning robot can be remarkably improved in the aspects of environment perception, navigation precision, cleaning efficiency, task optimization and the like.

The invention provides a double-antenna GNSS (Global Navigation Satellite System)-assisted navigation attitude measurement method. Real-time high-precision navigation positioning orientation is realized through the following steps of: constructing a coordinate system projection matrix by utilizing the height difference of double antennas; calculating course information delay time of satellite navigation and inertial navigation, and caching inertial navigation data; finding an inertial navigation course at a corresponding moment in the cache according to the delay time, and converting a coordinate system through a projection matrix; comparing the converted inertial navigation course with the satellite navigation course, and calculating an error; after effectiveness judgment is carried out on the error, a Kalman filter is adopted to carry out filtering iteration, and optimal estimation of an error term is obtained; and correcting the original navigation result according to the filtering result.

The invention relates to the technical field of navigation, and discloses a self-moving type water depth maintenance robot which is characterized in that on the basis of an existing sound velocity value, various environmental factors such as real-time temperature, real-time salinity and real-time pressure are further introduced, and an original sound velocity value is dynamically corrected, so that the precision and reliability of three-dimensional coordinate conversion are remarkably improved. The real-time depth value is calculated based on the corrected sound velocity, the current speed, the current acceleration, the real-time temperature and the real-time pressure of the robot are combined, the maximum allowable depth change rate is researched, and therefore the safety and efficiency of autonomous navigation of the robot in the complex underwater environment are remarkably improved.

The invention discloses a construction engineering construction site robot safety inspection and early warning method based on machine vision, and the method employs a tracked robot, integrates a plurality of sensors, employs an improved autonomous navigation and positioning technology, and combines a deep learning driven machine vision detection technology. And real-time monitoring and potential safety hazard identification of the construction site are realized. The system further comprises a real-time early warning system, a cloud platform data analysis and user customization interface, and a complete automatic safety monitoring solution is formed. According to the method, the inspection efficiency and accuracy are remarkably improved, the safety risk of manual inspection is reduced, and innovative technical support is provided for safety management of a building engineering construction site.

The invention provides a strapdown inertial navigation system-level calibration method based on a temperature-control double-shaft position turntable, and overcomes the defects of high workload, easiness in making mistakes, high cost, waste of equipment and manpower and the like in the conventional calibration method. The invention provides temperature and position calibration based on a temperature control double-shaft position rotary table, the transposition limitation of the double-shaft rotary table is overcome, a rotating position and a rotating scheme are designed in a targeted manner, and meanwhile, automatic position calibration of a gyroscope and an accelerometer of a product is realized through automatic transposition of the rotary table. The method can control the temperature of the rotary table incubator, automatically identify the corresponding temperature point of the product, capture the error parameter of the product at the corresponding temperature point, and automatically solve the compensation values of the zero positions of the gyroscope and the accelerometer along with the initial temperature change.

The invention relates to the technical field of anti-deception navigation, and discloses a dynamic anti-deception navigation method and system for an unmanned aerial vehicle, and the method comprises the steps: obtaining a signal of a satellite navigation system in the flight process of the unmanned aerial vehicle, and detecting and identifying a potential interference signal; adjusting filter parameters in real time according to the motion state of the unmanned aerial vehicle, and filtering noise and jump signals; when the signal of the satellite navigation system is seriously interfered, the signal of the satellite navigation system and the data of the inertial measurement unit are subjected to data fusion, short-time navigation of the unmanned aerial vehicle is maintained, and dynamic anti-interference deception of the unmanned aerial vehicle is realized. According to the method, interference and deception signals can be accurately identified and filtered by adopting multi-dimensional signal detection and analysis of multi-frequency multi-antenna receiving, time propagation error, power estimation, pseudo-range consistency and the like. When satellite navigation signals are seriously interfered, short-time navigation is carried out through IMU data, and it is ensured that the unmanned aerial vehicle keeps flight stability and navigation continuity in a complex environment.

The invention discloses an unmanned aerial vehicle visual continuous positioning method and system based on satellite remote sensing image assistance. The method comprises the following steps: a front-end visual tracking module calculates relative positioning under a pixel coordinate system according to an image matching feature point set, and turns to a UTM coordinate system to obtain a positioning result; when the accumulated set frame number or visual picture matching tracking fails, a rear-end satellite image absolute positioning module performs unmanned aerial vehicle absolute positioning and posture correction by using an unmanned aerial vehicle shooting image and a satellite remote sensing image; and the rear-end forward correction module performs forward correction based on absolute positioning information obtained by matching of the rear-end satellite image absolute positioning module, and eliminates an accumulated error of a front-end visual tracking result. The system comprises a front-end visual tracking module, a rear-end satellite image absolute positioning module and a rear-end forward correction module. The satellite remote sensing image positioning precision of the unmanned aerial vehicle is improved, the algorithm is simple, the real-time performance is high, and unmanned aerial vehicle visual continuous positioning can be carried out.

The invention discloses a multi-sensor fusion navigation method and device and a storage medium, and the multi-sensor fusion navigation method comprises the steps: obtaining image data of visual identification code bands collected by visual sensors at two sides, calculating the pose of a mobile device in a to-be-positioned scene to obtain a visual perception pose, the distances between the two sides of the mobile device and the visual identification code band are calculated, and visual perception distances are obtained; the distance between the mobile device and the visual identification code band collected by the distance measuring sensors on the two sides is obtained, and a distance measuring sensing distance is obtained; combining the visual perception spacing with the distance measurement perception spacing to obtain a final perception spacing; and based on the final perception spacing and the visual perception pose, navigating the mobile device to move to the task end point. Comprehensive positioning of multiple sensors and multiple identification markers is achieved, the posture of the mobile equipment can be obtained more accurately by combining the visual perception distance and the distance measurement perception distance, and the navigation precision is improved.

The invention discloses a strip mine unmanned terrain editable digital twinning method and system, and belongs to the technical field of digital twinning systems. The method comprises the following steps: constructing a three-dimensional terrain contour with topological information, and constructing a three-dimensional terrain with topological information based on the three-dimensional terrain contour; when the three-dimensional terrain changes, the latest three-dimensional terrain is downloaded, the latest boundary collected by the current vehicle is collected, a three-dimensional track route is drawn and updated, and the updated three-dimensional terrain is uploaded to a database; downloading two-dimensional graph data, and projecting and mapping a two-dimensional graph on a three-dimensional terrain; acquiring real-time coordinate data of the operation equipment, and adsorbing the real-time coordinate data on the three-dimensional terrain after projection mapping for driving; according to the method, the terrain can be dynamically edited, the editing flexibility higher than that of the traditional technology is provided, and the safety of mine field operation and the effectiveness of management are guaranteed.

The invention discloses a high-precision time synchronization system and method and application thereof, and belongs to the technical field of time synchronization. In the application, based on a communication result with a first device, at least one path of pseudo-range ranging signal and at least one downlink signal are acquired; determining a pseudo-range ranging value based on the pseudo-range ranging signal; a forwarding ranging value is determined based on forwarding ranging signals and represented by a forwarding ranging expression, and the forwarding ranging signals comprise at least one uplink signal broadcasted to the first device and at least one downlink signal forwarded by the first device; and determining a clock difference between the first device and the second device based on the forwarding ranging value, the pseudo-range ranging value and a preset carrier frequency relationship.

The present invention discloses a combined navigation computing system based on RISC-V architecture, including a RISC-V architecture processor and a BDS / INS combined navigation computing coprocessor; the RISC-V processor is used to execute general calculations and instructions, perform software programming, realize flexible functional changes, and can control the combined navigation computing coprocessor through custom extended assembly instructions; the combined navigation computing coprocessor is used to receive custom instructions from the RISC-V processor, and determine the instruction function according to instruction decoding, thereby adjusting the way in which the combined navigation computing unit processes information, obtains combined navigation information, and performs rationality inspection through a verification unit at the same time, and finally returns to the RISC-V processor, waiting for the user to call. The present invention realizes the integration of the combined navigation computing coprocessor and the RISC-V processor through custom instructions. The present invention improves navigation accuracy and communication efficiency.

The application discloses a visual language navigation method based on adaptive prompt information during testing, comprising the following steps: obtaining natural language-based navigation instructions and 360-degree panoramic visual observation information of an intelligent agent; extracting low-frequency visual features of sub-images and selecting valuable information from an image memory bank for prompting; extracting a text feature vector corresponding to the navigation instructions and an initial state vector of the current environment; selecting historical information from the visual feature memory bank using the state vector for prompting; inputting the state vector and the instruction features into a visual-language interaction module to generate navigation action selection; updating the normalization layer in the full connection layer according to the prediction score of the navigation action selection; and repeating the above steps until the intelligent agent stops selecting or reaches the maximum number of movement steps. The application can effectively enhance the navigation performance of the pre-trained intelligent agent model in unknown test environments.

The invention discloses a storage characteristic learning method and system based on laser SLAM. The method relates to the field of SLAM map feature analysis, constructs a cloud point map model through a laser and visual acquisition technology, and carries out storage area division and robot positioning. A GAN feature learning model is constructed by identifying landmark features of a defect area, laser and visual features are fused to carry out confrontation generation training, and simulated map data are generated. If the loss function converges, contour shape features of the simulated map data are extracted, and the map is updated based on the simulated point cloud data, so that feature learning of the storage environment is realized, the navigation precision and environment adaptability of the storage robot are improved, and real-time and efficient construction of the storage map is realized.

The application discloses a kind of mobile robot autonomous navigation and barrier avoidance system, belong to mobile robot control technical field.This system includes mobile robot body, perception module, controller module, actuator module and power module;Perception module uses laser radar, infrared thermal imaging sensor, visual identification sensor, ultrasonic sensor collaborative work, collects full scene environment data;Controller module integrates multifunctional unit, handles environment data by improved adaptive weight fusion algorithm, combines thinking chain reasoning analysis barrier movement intention, collates reinforcement learning prediction unit and predicts dynamic barrier trajectory, then plans optimal path by improved A* algorithm, realizes barrier avoidance control and closed-loop feedback correction.This system solves the defects such as low perception accuracy, barrier avoidance lag of prior art, can accurately perceive environment, active barrier avoidance, stable and reliable operation, adapts to a variety of complex scenes, and has strong practicality.

The invention relates to the technical field of navigation map creation, in particular to a robot visual navigation map creation method and system.The robot visual navigation map creation method comprises the steps that an initial identification point is set, a target robot is controlled to conduct global scanning on a to-be-mapped area with the initial identification point as a starting point, and the target robot is provided with a high-definition camera and an odometer; and carrying out image acquisition on the periphery of the initial identification point based on the high-definition camera to obtain an environment image set of the initial identification point, and carrying out feature extraction on the environment image set of the initial identification point to obtain an image feature set of the environment image set. Through the environment image collected by the high-definition camera and the distance data of the odometer, the position of the identification point can be accurately determined, the robot is helped to formulate an optimized path, the navigation precision is improved, a navigation topological graph can be automatically updated to adapt to environment change, and the navigation graph is ensured to be real-time and effective; and the influence of environment change on the navigation accuracy is reduced.

The application discloses a multifunctional power transmission line automatic obstacle crossing and clearing robot based on online power taking, and belongs to the technical field of power facility maintenance robots. The robot comprises a machine body, the machine body is provided with a walking and obstacle crossing module and a controller, the walking and obstacle crossing module comprises at least one set of wheel groups clamped on a power transmission line and at least one multi-degree-of-freedom mechanical arm, one end of the mechanical arm is connected with the machine body, and the machine body is further provided with a power taking and energy storage module. The power taking and energy storage module is used for supplying power to the robot in a mode of electromagnetic induction and capacitive coupling, is fixed on the machine body, and is internally provided with an electromagnetic induction power taking unit, a capacitive coupling power taking unit and a switching unit. The switching unit is used for switching power taking between the electromagnetic induction power taking unit and the capacitive coupling power taking unit according to the size of a current of the power transmission line. Through online power taking, all-weather operation is realized, and the problem that existing robots cannot be used for long-distance inspection is solved.

The invention relates to the technical field of augmented reality, and discloses a femoral interlocking intramedullary nail far-end locking mixed reality navigation method and system, and the method comprises the steps: constructing a surgical navigation frame of a target user, and collecting a femoral X-ray film and a camera monitoring image of the target user in real time; the thighbone X-ray film and the camera monitoring picture are subjected to registration fusion, a registration fusion image is enhanced, and an enhanced fusion image is obtained; defining a coordinate conversion algorithm of the surgical navigation framework; constructing a surgical tool of the surgical navigation framework, collecting a tool image of the surgical tool, extracting a multi-mark-point feature of the tool image, and calculating a center point coordinate and a drill bit coordinate of the surgical tool; calculating the position deviation of the surgical tool, calculating the angle deviation of the surgical tool, constructing a surgical locking navigation module of the target user, and determining a navigation path of a central point corresponding to the surgical tool. According to the method, the navigation precision of the femoral interlocking intramedullary nail far-end locking mixed reality navigation can be improved.

The invention relates to the technical field of aircraft navigation, in particular to a gravity gradient / SINS / starlight autonomous integrated navigation method. Establishing a gravity gradient / SINS / starlight autonomous integrated navigation system, wherein the gravity gradient / SINS / starlight autonomous integrated navigation system comprises a gravity gradient / SINS integrated navigation subsystem and a SINS / starlight integrated navigation subsystem; selecting east, north and sky geographic coordinate systems as navigation coordinate systems, and establishing a state equation and a measurement equation of the autonomous integrated navigation system; carrying out filtering solution on the integrated navigation system by adopting a set nonlinear filtering algorithm to obtain a state estimation value and a covariance matrix corresponding to each subsystem; fusing the state estimation values of the subsystems by using a fusion algorithm to obtain a global optimal estimation value; and correcting the error of the integrated navigation system in real time according to the global optimal estimated value. The autonomous integrated navigation system provided by the invention is high in navigation precision, strong in autonomy and good in reliability, and can meet the requirement of a long-distance long-endurance aircraft on the navigation precision.

The embodiment of the present application provides a navigation device, including: a navigation marker, a connecting component and a fixing component; the fixing component is connected to the first end of the connecting component, the fixing component is used to fix the surgical instrument, and the axis of the fixing component coincides with the axis of the surgical instrument; the navigation marker is connected to the second end of the connecting component, the navigation marker is used to be sensed by the sensor module to obtain posture data indicating the surgical instrument, and the posture data of the surgical instrument includes the position data of the surgical instrument and the posture data of the surgical instrument. The navigation device provided by the embodiment of the present application makes the axis of the fixing component coincide with the axis of the surgical instrument, so that the relative posture data of the surgical instrument relative to the navigation marker remains unchanged when the surgical instrument rotates, thereby reducing measurement errors and improving navigation precision and accuracy.

The present application discloses a method and an agent for intelligent agent navigation, and belongs to the field of navigation technology. The method comprises: determining the first reachable navigation point corresponding to the current navigation point, obtaining the first image corresponding to the first reachable navigation point; determining the predicted navigation end point according to the navigation instructions of this navigation, the position information corresponding to the historical navigation point, the posture information of the intelligent agent at the historical navigation point, the topological information of the historical navigation point and the first image, and determining the navigation point to be driven among the candidate navigation points, wherein the candidate navigation point includes the historical navigation point and the first reachable navigation point; and controlling the intelligent agent to drive to the navigation point to be driven. The present application can realize the navigation of the intelligent agent.

The invention discloses an unmanned aerial vehicle formation inter-vehicle cooperative positioning method, system and device and a medium, and the method comprises the steps: carrying out the recognition of an array signal between a master unmanned aerial vehicle and a slave unmanned aerial vehicle, and obtaining a bidirectional LOS vector according to the recognition result and the navigation positioning information of the master unmanned aerial vehicle; in combination with the navigation positioning information of the main unmanned aerial vehicle and the bidirectional LOS vector, obtaining the pose of a slave unmanned aerial vehicle; predicting an optimal formation layout of the unmanned aerial vehicles according to the poses of the slave unmanned aerial vehicles and the navigation positioning information of the master unmanned aerial vehicle in combination with a graph neural network model and a deep reinforcement learning model; and performing coordinate conversion and error processing on the optimal formation layout to obtain a cooperative positioning result between unmanned aerial vehicle formations. According to the embodiment of the invention, the overall navigation precision of the unmanned aerial vehicle formation can be greatly improved, the optimal formation layout of the unmanned aerial vehicles is predicted in real time through the deep reinforcement learning model, positioning precision optimization in a complex dynamic environment is realized, and the method can be widely applied to the technical field of unmanned aerial vehicles.

This application provides a self-calibration method for the magnetic shielding parameters of a laser gyroscope IMU, relating to the fields of inertial navigation and precision instrument technology. The method includes the following stages: Offline initialization modeling stage: Applying a multi-dimensional standard excitation magnetic field to the IMU, simultaneously acquiring external excitation magnetic field data, residual magnetic field data inside the IMU, control parameter data of the magnetic shielding system, and zero-bias drift data of the laser gyroscope. This application provides a self-calibration method for the magnetic shielding parameters of a laser gyroscope IMU, abandoning the model of permanently fixing magnetic shielding parameters. It creatively proposes a data-driven online real-time parameter optimization mechanism, which can automatically adapt to wide temperature range changes and shielding performance degradation caused by material aging, ensuring that the IMU always operates in a state where the magnetic shielding effectiveness is approximately optimal.

The present invention relates to the technical field of collaborative positioning of unmanned boat clusters, and provides a collaborative positioning method, system, equipment and medium with limited observation amount, the method comprising: dividing the unmanned boats in the unmanned boat cluster into navigation relay unmanned boats and business unmanned boats; determining the direction of satellite navigation interference according to the scope of the restricted area; determining the collaborative positioning configuration of the navigation relay unmanned boats by using the principle of optimal allocation of geometric precision factor; planning the navigation relay unmanned boat route; obtaining the driving speed of the navigation relay unmanned boat according to the speed of the business unmanned boats in the restricted area and the time from the initial moment of the business unmanned boats to the moment when the distribution configuration of the unmanned boats meets the collaborative positioning; after the navigation relay unmanned boats travel to the designated position according to the navigation relay unmanned boat route, they continue to travel at the limited business unmanned boat speed. The present invention ensures that the navigation relay unmanned boats obtain sufficient observation amount, perform collaborative positioning, and improve the navigation accuracy of the entire unmanned boat cluster.

The utility model relates to an array type double-shaft rotating inertial navigation system. A plurality of micro-electro-mechanical inertial measurement units are used for constructing an inertial measurement array in an array form, the inertial measurement array is mounted in a double-shaft indexing mechanism, and a main control module is configured for rotation control and navigation calculation, so that the array type double-shaft rotation inertial navigation system is formed. The inertial measurement array in the system performs data fusion through redundant inertial measurement information, and suppresses random errors of the system; meanwhile, the system controls the double-shaft indexing mechanism to regularly rotate, so that constant errors such as zero offset, scale factor error and installation error of the inertial measurement array periodically and alternately change positively and negatively in navigation calculation, and online compensation of the constant errors is realized. According to the utility model, the random error in the inertial navigation system is effectively inhibited, and the constant error is compensated, so that the navigation precision of the system is obviously improved. The utility model belongs to the technical field of inertial navigation and can be applied to carrier autonomous navigation.

The present application belongs to the field of autonomous navigation technology, and provides a kind of multi-source perception information fusion autonomous navigation method, device, equipment and medium, solve the navigation positioning problem under the environment of no signal direct path, comprising: obtaining Wi-Fi channel state information, initial estimated position, access point position and environmental reflection surface data, predict theoretical reflection path and the predicted time delay and reflection point position of each theoretical reflection path, extract the observation time delay of each observed multipath component, calculate the time delay deviation value of each observation time delay and each predicted time delay, to build the corresponding observation multipath component and theoretical reflection path matching association accordingly, when there are at least three theoretical reflection paths that exist matching association, calculate virtual ranging value, construct positioning equation set according to virtual ranging value and solve, obtain positioning coordinate, to generate navigation control instruction accordingly.The present application can realize accurate positioning navigation by constructing virtual signal source through multipath reflection path under the environment of no signal direct path.

The invention belongs to the field of mobile robot control, and particularly relates to a dual-power composite steering control method and system for a heavy-load AGV, and the method comprises the following steps: 1), a vehicle-mounted controller receives a given path plan, a vehicle body controller obtains given speeds of driving motors on the left side and the right side, and the given speeds of driving motors on the left side and the right side are obtained; the differential steering control driving motor provides steering torque to drive the virtual rudder to steer; (2) the vehicle-mounted controller collects numerical values of multi-circle absolute value encoders installed on the front virtual rudder and the rear virtual rudder in real time, and deviation angles of the front virtual rudder and the rear virtual rudder in the vehicle length direction are obtained; the vehicle-mounted controller compares the deviation angle with a target steering planning angle to obtain an angle deviation value; (3) a load-turning radius-torque model is established, and the torque needed by steering of the virtual rudder is obtained according to the obtained angle deviation value, the planned turning radius and the current load; and 4) according to the torque required by the steering of the virtual rudder, the steering torque provided by the driving motor is combined to finally realize the steering control of the vehicle body.

The invention discloses a high-precision map generation method, a related method, a related device and related equipment, and the method comprises the steps: respectively generating initial lane geometric data, element map and road-level map data and real-time lane geometric data, element map and road-level map data according to the time according to the obtained multiple groups of crowdsourcing map element data; fusing the generated multiple groups of real-time lane geometric data, the real-time matching map element data and the real-time road-level map data, and obtaining the real-time lane geometric data based on the mean value and the variance of each key point in the initial lane geometric data and the determined mean value and the variance corresponding to each fusion key point in the fused lane geometric data. And updating the fused matched map element data and the fused road-level map data, repeating the step of iterative updating until an iteration stop condition is met, obtaining optimal lane geometric data, optimal matched map element data and optimal road-level map data, and generating a high-precision map.

The invention provides an AGV visual navigation method and system based on a double-row two-dimensional code tape, and the method comprises the steps: scanning a plurality of two-dimensional codes of the double-row two-dimensional code tape, and starting to search a three-connection code from the two-dimensional code closest to the center of a camera based on the pose information of the center point of the two-dimensional code under the center of the camera and the double-row arrangement rule of the two-dimensional code; calculating the relative pose of the three-continuous-code center and the camera center; calculating the relative pose of the three-continuous code center and the original point of the code belt; and calculating the relative pose of the vehicle body and the original point of the code band according to the relative pose of the three-continuous-code center and the camera center, the relative pose of the three-continuous-code center and the original point of the code band and the calibration result of the vehicle body and the camera. According to the navigation algorithm based on the double-row code band, a plurality of two-dimensional codes with limited categories are circularly nested, fused and arranged on the double-row long code band, and the two-dimensional code matrix information is not required to contain the relative position of the original point of the code band, so that the manpower consumption is reduced while the navigation precision is improved, and the enterprise cost is reduced.