129results about How to "Improve navigation and positioning accuracy" patented technology

The initial attitude determination method for SINS comprises: rotating the SINS from initial position to any one position round arbitrary 3D axis; according to SINS output on first position and the relation of earth rotational angular velocity and acceleration of gravity, determining the initial attitude primarily; then, using Kalman filter to estimate the gyro constant drift and other values for more accurate initial attitude. This invention improves observability and precision.

The invention relates to the technical field of unmanned remote control measurement, and provides a rudderless unmanned ship capable of automatically sailing, which comprises a ship body, pontoons on the two sides, a communication unit, a navigation and positioning unit, a measuring unit, a power and driving unit, a ship body gesture measuring unit, an industrial personal computer, and a battery providing a working power supply for the other parts. According to the invention, the advancement, backing and turning of the unmanned ship can be realized through controlling the turning and speed difference of the power equipment mounted on the two sides of the ship body; the unmanned ship can complete planned sailing lines to perform measuring tasks such as underwater terrain plotting, flow velocity and flow rate measurement, and close-range photogrammetry; the automatic voyage of the unmanned ship at the rudderless state can be realized; the flexibility of the unmanned ship is improved; and the measuring working efficiency is greatly improved and the cost is reduced.

The invention provides a strapdown system error inhibition method based on a uniaxial four-position rotation and stop scheme, which comprises the steps of: (1) determining an initial position parameter of a carrier through a GPS; (2) acquiring data output by an optical fiber gyroscope and output by an acceleration meter and processing the data; (3) positively and negatively rotating and stopping an inertia measuring unit (IMU) around four positions fixed by an azimuth axis of the carrier; (4) converting the data generated by the optical fiber gyroscope and the acceleration meter after rotating the IMU into a navigation coordinate system to obtain a demodulation mode of a constant offset of an inertia device; (5) updating a strapdown matrix Tsn by using an output value Omega iss of the optical fiber gyroscope; and (6) computing the speed and the position of the carrier after rotating and demodulating the IMU.

The invention discloses an inertial navigation / Doppler radar combination-based vehicle positioning and orientation method, and aims to solve a technical problem that a conventional vehicle positioning and orientation method is low in positioning precision. According to the technical scheme, own errors of serial inertial navigation system (SINS) and Doppler radar (DOP) as well as installation error coefficients and installation level arms of the inertial navigation system and the Doppler radar on a vehicle used as state variables and position increment errors below a vehicle body coordinate system in unit time used as a measured manner are adopted to perform sequential filtering and fault detection isolation on non-integrity constraint and Doppler radar speed measurement respectively, so that the environmental adaptability of an integrated navigation system is improved, the long-time and remote working ability of the system is ensured, and the navigation positioning precision is improved. Tests show that under the condition if the working hours and the travel distance are greater than those in the background art, the positioning precision can be still significantly improved, and the maximum horizontal positioning error decreases from 120 m to 30 m.

The invention relates to an indoor and outdoor navigation system comprising an outdoor navigation positioning module, an indoor navigation positioning module, a communication module, and a server. The outdoor navigation positioning module carries out satellite navigation positioning; when satellite positioning signals equal to or more than a preset number are received, a satellite track and a clock difference correction number are obtained in real time by a gap type RTPPP and are processed to obtain navigation positioning data; and when positioning signals smaller than the preset number are received, the positioning data are transmitted to the indoor navigation positioning module. The indoor navigation positioning module collects rotating angle data of a pedestrian, acceleration data, air pressure data, and geomagnetic data, processes the data to obtain preliminary navigation positioning data, transmits the data to the server, and corrects the preliminary navigation positioning data to obtain final navigation positioning data. The communication module establishes a transmission channel between the indoor navigation positioning module and the server. The server carries out comparison and correction on the data and data stored in advance and stores the corrected data. Compared with the prior art, the system and method have the following beneficial effects: the positioning cost can be reduced; the indoor and outdoor positioning precision can be improved; and the application range can be extended.

The invention discloses an inspection mobile platform for a livestock and poultry farm. The platform comprises a mobile vehicle and a controller, and a laser radar and a visual sensor are arranged onthe mobile vehicle; a positioning correction code is arranged at a fixed position of the livestock farm, and the positioning correction code contains information of the current position; during the inspection process of the mobile vehicle, the visual sensor is used for shooting a positioning correction code image, the image is uploaded to the controller, and the controller identifies image information, so that the current accurate position of the mobile vehicle is obtained, and the mobile vehicle is controlled to continue to travel according to a certain path. According to a control method, the current approximate traveling position of the mobile vehicle can be given through the laser radar, the positioning correction code is recognized through the visual sensor and the controller, the accurate position of the mobile vehicle can be obtained, and therefore accurate navigation is achieved.

The invention discloses an underwater intelligent self-adapted terrain matching method based on terrain information amount and mainly aims to solve the problems that the terrain information amount of an underwater navigation region is not sufficient or not complete so that the error of an aided navigation system is increased and the long-time accurate navigation and positioning requirements of an underwater vehicle cannot be met. The underwater intelligent self-adapted terrain matching method mainly comprises the following steps: calculating different terrain feature parameter values in the navigation region; calculating a terrain information amount aggregative index based on an intelligent method; and carrying out sampling time calculation and a self-adapted terrain matching algorithm based on a terrain information amount aggregative index value. According to the method, the problems that the terrain information amount of the underwater navigation region is not sufficient so that the error of the aided navigation system is increased and the single terrain feature index can cause the incomplete evaluation on the terrain information amount can be effectively improved; the intelligent method is used for comprehensively considering the influence of each index; the sampling time is adjusted by the terrain information amount in a self-adapted manner, the matching range is enlarged and the matching precision is improved.

The complex navigation telegraph is made of navigation telegraph and assisting navigation communications telegraph. It can broadcast the base point rectified data relevant parameter, being able to broadcast more data, forming wide and local difference module or wide or local reinforcement system, being able to broadcast current layer correcting module influence parameter. It realizes the telegraph communication, message communication, and broadcasting communication, with improved transmission speed, and increased in transmission data. It improves the assisting navigation communication telegraph, speeding up the configuration of the navigation positioning, realizing the communication of location and time.

The invention discloses a navigation positioning method for a tour inspection robot of a transformer substation. The imaging positions of tracking navigation lamps in an infrared thermal imager are detected, so that the moving direction of a trolley is determined, and the aim of tracking is fulfilled; in order to position the robot in a moving process, a cradle head is horizontally rotated until an image of a positioning navigation lamp in the infrared thermal imager is in the center, the distance to the next fixed point is calculated according to the horizontal rotating angle of the cradle head and the moving distance of the trolley is calculated according to the sizes of images of the tracking navigation lamps in the infrared thermal imager, so that the aim of positioning is fulfilled.

The invention provides an ionized layer delaying estimation method of a Beidou navigation satellite system. The method comprises the followings steps: a step of roughly calculating longitude and latitude: enabling a Beidou navigation satellite receiver to calculate a satellite position and a pseudo-range according to a satellite ephemeris to receive rough longitude and latitude position information of the receiver; a step of calculating longitude and latitude of a breakthrough point: calculating longitude and latitude information of the breakthrough point of a participating positioning satellite according to the obtained rough longitude and latitude position information and participating positioning satellite position information; an ionized layer delaying correction step: determining a grid point containing the breakthrough point and ionized layer correction delaying information containing the breakthrough point according to grid ionized layer delaying information sent by a GEO (Geostationary Earth Orbit) satellite of the Beidou navigation satellite system and the longitude and latitude information of the breakthrough point; and a step of calculating accurate longitude and latitude: revising an observation equation of the Beidou navigation satellite receiver according to the ionized layer correction delaying information of the breakthrough point and calculating the accurate longitude and latitude. With the adoption of the technical scheme, the grid ionized layer delaying information of a GEO satellite ephemeris of the Beidou navigation satellite system can be used for reducing ionized layer errors and the navigation positioning precision is improved.

The invention provides an underwater carrier integrated navigation system based on MEMS IMU / magnetometer / DVL integration, which comprises an initial alignment process, an inertia calculation process,a speed measurement Kalman filter and a course measurement Kalman filter; wherein the initial alignment process uses a magnetometer and an accelerometer to complete initial course attitude calculation; in the inertial calculation process, recursive calculation of carrier poses is carried out by utilizing data of an MEMS IMU, speed difference output by the MEMS IMU and a DVL serves as a filter forprimary measurement in speed measurement Kalman filtering, navigation parameters such as heading and poses are estimated by utilizing filtering, and measurement precision such as horizontal poses is improved through feedback correction; secondly, magnetic heading information is calculated in combination with the obtained horizontal attitude information and the magnetometer measurement value, heading measurement Kalman filtering takes the difference between the heading obtained through primary feedback correction and the magnetic heading as a filter for secondary measurement, then filtering isperformed, and high-precision navigation parameters such as heading, attitude and speed are obtained; and therefore, the positioning precision of the system is greatly improved.

The invention discloses a fault recognition method for a multi-constellation integrated navigation system. The method comprises the following steps of: unifying time and space coordinates of the multi-constellation system; determining fault detection usability; determining a fault; recognizing and removing faulty satellites and the like. Faults of various satellites can be monitored and recognized simultaneously, the success rate of recognizing and removing the faulty satellites is greatly improved due to unification of the time and space coordinates of the multi-constellation system and repeated detection and judgment, and the navigation positioning accuracy, positioning performance and reliability of the multi-constellation integrated navigation system are improved; therefore, the navigation service performance is improved.

The invention provides an artificial fish swarm algorithm optimized volume particle filtering navigation method. The method comprises the following steps of (1) initializing a parameter, and selectinga particle from prior distribution; (2) designing an important density function by volume Kalman filtering, generating an improved suggestion distribution function, and selecting a new particle; (3)taking a measurement value; (4) calculating an important weight of the particle; (5) updating a position of the particle by an artificial fish swarm algorithm so that the particle constantly gets close to a true state; (6) updating the particle weight and performing normalization; (7) outputting a state estimation value and a variance estimation value; and (8) judging whether the step is ended ornot, if yes, exiting, otherwise returning to the first step. The method employs the volume Kalman filtering to design the important density function, the particle constantly moves towards a high likelihood domain by alternativeness of foraging behavior and bunching behavior in the artificial fish swarm algorithm, so that the particle distribution is improved, and the positioning accuracy is improved.

The invention belongs to the field of inertial navigation, and discloses a constant-rate offset frequency / mechanically dithered laser gyro inertial navigation system navigation method by aiming at solving the problems that a positive and reverse rotation speed rate offset frequency mode laser gyro inertial navigation system requires offset frequency mechanism instantaneous reverse rotation, but the realization difficulty is high; a constant-rate offset frequency mode laser gyro inertial navigation system cannot overcome the defects of great pure inertial navigation errors and equivalent drift errors relevant to offset frequency rotating shaft direction gyro scale factor errors. Through the steps of mechanically dithered offset frequency laser gyro installation, coordinate system and installation relationship definition, offset frequency rotating shaft direction equivalent gyro sampling value calculation, precise installation relationship matrix calibration, precise mechanically dithered laser gyro sensitive axis unit vector calibration, initial alignment kalman filter design and pure inertial navigation error correction compensation, the fast high-precision initial alignment is realized; the north and east position errors of the pure inertial navigation are reduced; the navigation precision is improved.

The invention discloses a multifunctional robot capable of flying in a disaster scene. The multifunctional robot comprises a control module, a sensing module, a mechanical hand module, a wireless data transmission module, a navigation positioning module, a flying movement module, a power driving module, an image collection and processing module, a man-machine interaction module and a first aid material library module. The sensing module, the mechanical hand module, the wireless data transmission module, the navigation positioning module, the flying movement module, the image collection and processing module, the man-machine interaction module and the first aid material library module are all connected to the control module, and both the mechanical hand module and the flying movement module are connected to the power driving module. The search and rescue robot has high artificial intelligence, can rapidly reach the specific position, and is high in man-machine interaction, strong in obstacle crossing ability, high in navigation positioning precision, high in data transmission speed, capable of detecting the content of various gas ingredients in air and giving necessary rescue after finding trapped persons, and strong in search and rescue flexibility and environment adaptability.

The invention relates to a method for determining the initial attitude of an inertial navigation system, in particular to a method for determining the initial attitude of the inertial navigation system based on Kalman filtering. The course angle, the pitch angle and the roll angle are calculated according to the relation between the output of a gyro and the rotational angular velocity of the earth and the relation between the output of an acceleration transducer and the acceleration of gravity, and are substituted in a Kalman filter to finally determine the initial attitude. Compared with the prior art, the method increases the observability of the inertial navigation system, improves the filtering effect of the Kalman filter and better estimates the misalignment angle, the constant drift of the gyro and the constant bias of an accelerometer. More accurate course angle, pitch angle and roll angle can be obtained by correcting an attitude matrix by using the estimated misalignment angle.

The invention provides an error suppressing method of a rotary strap-down inertial navigation system based on space stabilization. The error suppressing method comprises the following steps: determining an initial position parameter of a carrier through a GPS (global positioning system) and binding the initial position parameter of the carrier in a navigation computer; preparing to preheat a strap-down inertial navigation system, collecting data output by a fiber-optic gyroscope and a quartz accelerometer and processing the data; rotating an IMU (inertial measurement unit) and then converting the data generated by the fiber-optic gyroscope and the quartz accelerometer to be in a navigation coordinate system to obtain modulation format of constant deviation of an inertial unit; analyzing calibration factor error and installment error of the gyroscope in a modulation type inertial navigation system with steady space; and calculating attitude error caused by the calibration factor error and the installment error of the gyroscope during a conversion progress between a coordinate system of the IMU and the inertial system. With the adoption of the error suppressing method disclosed by the invention, constant deviation of inertial units in three-axis directions is modulated, and al the calibration factor error and the mounting error are also prevented from being coupled with the rotational angular velocity of the earth, consequently, the system has better stabilization, and navigation positioning precision is improved.

The invention relates to a method for realizing an airborne long-endurance celestial navigation system based on INS (inertial navigation system) correction, and belongs to the technical field of navigation of long-endurance aircrafts. The method comprises the following steps: guiding a celestial observation subsystem on a physical platform with two-dimensional rotational freedom through position information output by the pure inertial navigation system to observe a fixed star target in the sky, calculating position information of a fixed star point target image in a geographic coordinate system, and correcting data accumulated along with time and output by the inertial navigation system by utilizing the calculated position information. The method realizes the airborne long-endurance high-precision celestial navigation system based on error item correction of the INS and is suitable for celestial positioning navigation on the airborne physical platform.

The invention discloses a navigation positioning method based on ultra short base line (USBL). According to the navigation positioning method, ultra short base line positioning information of an underwater unmanned untethered underwater robot (underwater robot) is sent to the underwater robot via a sound communication machine so as to realize integrated navigation of the underwater robot. The navigation positioning method comprises two steps: firstly, USBL is adopted for tracking and positioning of the underwater robot, and positioning information is sent to the underwater robot via the sound communication machine; and secondly, the positioning information is received by the underwater robot, and state updating of navigation algorithm is carried out via motion compensation. Operation of the navigation positioning method is simple; and USBL positioning information can be used for realizing underwater robot integrated navigation accurately and effectively, so that underwater navigation positioning accuracy of underwater robots is increased further.

The invention belongs to the technical field of cantilever type heading machines for coal mine underground roadway operation, and provides a navigation positioning and automatic cutting method of a cantilever type heading machine. The method comprises the steps of S1, arranging a main inertial navigation assembly on a machine body of the cantilever type heading machine, installing an auxiliary inertial navigation assembly on a cutting arm, and installing an automatic total station assembly on a fixed rail erected in a roadway; S2, calculating the spatial position of the cutting head of the heading machine by combining the detection data of the main inertial navigation assembly and the auxiliary inertial navigation assembly; and S3, presetting a process path for the cutting head to work, controlling the strokes of a lifting oil cylinder and a rotary oil cylinder in combination with a section automatic cutting model of the cutting head, enabling the cutting head to move to the starting point position of automatic cutting, and starting to automatically cut the coal wall according to the process path. According to the invention, the navigation and positioning precision of the machine body of the heading machine and the automatic cutting precision of the spatial position of the cutting head can be effectively improved, and the overall navigation and positioning precision of the heading machine is improved.

The invention provides a Chinese area positioning system (CAPS) / global positioning system (GPS) dual-mode receiver. CAPS satellite signals and GPS satellite signals are received simultaneously by a CAPS / GPS dual-model antenna, and are respectively transmitted to a CAPS radio frequency front end and a GPS receiver module through a power divider; the CAPS satellite signals are filtered and amplified through the CAPS radio frequency front end and sent to a CAPS mixer subjected to down conversion; intermediate frequency analog signals generated during frequency mixing are output to a microprocessor through an A / D conversion module to obtain a time scale and a text message of the CAPS signals; and the GPS receiver module carries out filtration and amplification on the GPS satellite signals, conversion from a radio frequency signal to an intermediate frequency signal, AD sampling of the intermediate frequency signal and extraction of the time scale and the text message. According to the CAPS / GPS dual-model receiver, timing and positioning information of a CAPS and a GPS can be analyzed and judged, the validity of output information is ensured, the navigation positioning precision of users is improved, and the completeness and the reliability of systems are enhanced.

The invention provides a fusion positioning navigation time service calculating model building method considering satellite navigation intersystem deviation. The fusion positioning navigation time service calculating model building method is characterized in that intersystem deviation calibration of a satellite navigation system with respect to a Beidou satellite navigation system can be carried out; the real-time detection during the application of the intersystem deviation can be carried out; the error equation or the constraint condition of the intersystem deviation can be built, and the fusion positioning navigation time service calculating model considering the satellite navigation intersystem deviation can be built, and the result can be detected; The high-precision fusion positioning time service of the Beidou satellite navigation system and other satellite navigation systems can be realized, and the unified navigation positioning result, the unified receiver clock correction, and the intersystem deviation with respect to the Beidou satellite navigation system can be acquired, and in addition, especially in the special environment having the limited number of visible satellites, the calculating effect of improving the precision and the reliability of the navigation positioning can be achieved, and therefore the operability is stronger, the popularization is easy to realize, and the wide industrial application prospect can be provided.

The invention provides a MINS / GPS ultra-tight integrated navigation system design method. The method comprises the following steps of carrying out time-space difference by using carrier phase measurement to obtain a measurement equation, calculating Doppler frequency shift, assisting a GPS carrier tracking loop PLL, smoothing a pseudo-range outputted by a GPS by using carrier phase measurement, and carrying out Taylor expansion of the pseudo-range; and taking the obtained pseudo-range difference and speed difference as measurement of a system model, designing a combined Kalman filter to estimate a system state, correcting inertial device errors and the strapdown inertial navigation calculation navigation information by utilizing a state estimation result outputted by the Kalman filter, andtaking the corrected strapdown inertial navigation calculation information as the navigation positioning result. The method is advantaged in that the Doppler auxiliary errors caused by low-precisionSINS are avoided, correlation between GPS measurement errors and SINS speed errors is avoided, dynamic performance, the anti-interference capability and the navigation positioning precision of the system are enhanced, and non-linear errors introduced by linear pseudo-range measurement are overcome.

The invention discloses a device used for RNP airborne performance monitoring and warning. The device comprises a display system, an audio warning system, and an integrated management system; the integrated management system is used for calculating the current position, actual navigation performance, and current RNP value of aircrafts, and sending the calculation results to the display system; the display system is used for drawing a first group of parallel lines used for representing the current RNP value on the two sides of a centre dividing line, and then drawing a second group of parallel lines used for representing values of two times of the current RNP value on the outer sides of the first group of parallel lines, and at last drawing a circle used for representing actual navigation performance, wherein an expected navigation segment of the current moment is taken as the centre dividing line, the current position of the aircraft is taken as the center of the circle, and the semi diameter is designed to be corresponding to the PEE value. The device is capable of realizing dynamic displaying of the current aircraft position, the value of PEE, the value of FTE, and the accuracy and tolerance degree relationship of PEE and FTE with RNP in a drawing mode; pilots are capable of visually monitoring RNP running conditions of the aircrafts in a same drawing; and RNP navigation efficiency is increased.

The invention discloses a method for realizing Beidou / GPS (Beidou / Global Positioning System) integrated navigation under a Windows CE (Embedded Compact) system. Based on a universal embedded Beidou satellite navigation and positioning system platform, the system platform comprises a processor module, an input / output module, a navigation and positioning communication module and a display module, wherein the processor module is a hardware core module of the system, the navigation and positioning communication module is an integrated navigation module consisting of a GPS navigation module and a COMPASS module, and the integrated navigation module is mounted on a mobile terminal; after positioning request information is sent by the mobile terminal, analysis, resolving and synthesizing of positioning data information are respectively carried out by the GPS navigation module and the COMPASS module, and navigation parameters after the resolving of respective subsystem are output; finally, the optimal estimated values of the navigation parameters are output by an integrated navigation filter. Through the adoption of the technology, the navigation and positioning precision, reliability and redundancy of a satellite navigation system in a mobile terminal field can be further improved, so that the navigation and positioning effects are superior to those of ordinary single navigation systems.

The invention provides an error suppressing method of a fiber strap-down inertial navigation system based on three-axis rotation. The error suppressing method comprises the following steps: determining an initial position parameter of a carrier by using a GPS (global positioning system); collecting data output by a fiber-optic gyroscope and a quartz accelerometer; determining attitude information of the carrier according to relationship of output of the accelerometer and gravity acceleration as well as relationship of output of the gyroscope and the rotational angular velocity of the earth, and accomplishing initial alignment of the system; employing an indexing scheme of a rotational period of twelve rotation-stop orders by IMU (inertial measurement unit); converting data generated by the fiber-optic gyroscope and the quartz accelerometer after rotation of the IMU to be in navigation coordinate system to obtain a modulation format of constant deviation of an inertial unit; updating a strap-down matrix by utilizing an output value of the fiber-optic gyroscope; and calculating position information of the carrier after the IMU is rotated and modulated. With the adoption of the error suppressing method disclosed by the invention, constant deviation of the inertial unit in three-axis direction can be modulated, thereby navigation positioning precision is improved.

The invention discloses a GNSS observation value fixed weight method conforming to reality. The method comprises the following steps of obtaining a GNSS observation value; determining a satellite elevation angle, a satellite azimuth angle and carrier-to-noise ratio information corresponding to each observation value; constructing a fixed weight function considering the satellite elevation angle, the satellite azimuth angle and a carrier-to-noise ratio; using the fixed weight function to construct a random model; and realizing GNSS navigation positioning. In the method, observation value quality changes caused by some actual environment factors ignored in a traditional observation value fixed weight method are considered, and due to a fact that observation station environment factors are always closely related to the satellite elevation angle, the satellite azimuth angle and the carrier-to-noise ratio, the factors are fully considered, and the corresponding observation value fixed weight method is established. Compared with a traditional weight fixing method, by using the method of the invention, GNSS navigation positioning precision and reliability can be improved.

The invention discloses an inertia / zero--speed / GPS based pedestrian seamless combined navigation positioning method. An output characteristic of an inertia sensor in a pedestrian running gait is analyzed, strapdown resolution is carried out, and a zero-speed detection model based on the pedestrian running gait is established to improve the stability and reliability of zero speed detection under the pedestrian running gait; and a BP neural network based GPS available signal screening method is provided to reject GPS interference signals with large errors effectively and improve the reliabilityand accuracy of GPS information. On the technical basis, a Kalman filter based on variable measurement is researched to fuse inertia, zero speed information and GPS information effectively, and the navigation positioning precision in the pedestrian running state is improved substantially; and the problem of speed position divergence under pure inertial resolution can be solved effectively, and theseamless combined navigation positioning precision and reliability under the pedestrian running state are improved.

The invention relates to a vehicle-mounted navigation method and device based on machine learning and computer equipment. The method comprises the steps of: building a VDM-assisted IMU error correction model, building a BDS / IMU / VDM integrated navigation model, building a machine learning training model when the BDS is in a normal navigation state, taking the position and speed obtained by mechanical arrangement and VDM correction of an IMU as a training input sample, taking the BDS / IMU / VDM combined filtering output as an output sample, and when the BDS is in an unlocked state, starting a machine learning model which is matured by training to predict a filtering output value, and correcting the position and speed information of IMU / VDM calculation. Through test in a tunnel, an underground garage and a satellite signal shielding area, a simplified machine learning network can be used for establishing auxiliary navigation information and realizing real-time auxiliary inertial navigation / wheel speed updating, so that long-time positioning error divergence is avoided, and the navigation and the positioning precision of the system is greatly improved.

Aiming at the navigation positioning precision problem of an unmanned vehicle in a complex environment, the invention provides an inertia / odometer integrated navigation filtering method, electronic equipment and a storage medium, and the method comprises the steps: building an inertia / odometer integrated navigation model based on STEKF based on the data information received by strapdown inertial navigation and a wheel type odometer; completing forward filtering based on the established STEKF-based inertia / odometer integrated navigation model, and storing output filtering information into a sliding window space in real time; and filtering information stored in the sliding window space is used for online smoothing, and posture, speed and position information output by the integrated navigation system is corrected. The method is an online smooth filtering method with real-time track correction capability and better filtering robustness, and is a feasible method for improving the navigation and positioning precision of the unmanned vehicle in a complex environment.