3results about How to "Increase the output frequency" patented technology

The invention discloses a course angle real-time fusion method and system, and the method comprises the steps: collecting the output data of an MEMS inertial navigation system and a double-antenna satellite receiver in real time, updating a course angle storage sequence and a Z-axis angular velocity storage sequence in real time, carrying out the comprehensive information processing and data fusion, correcting the course angle of the MEMS inertial navigation system, and outputting the corrected course angle. And updating the numerical value in the course angle storage sequence. In the scheme provided by the invention, the MEMS inertial navigation system provides accurate relative angle variation in a short time, so that the fused course angle has relatively high output frequency; the course angle information of the double-antenna satellite receiver is utilized, so that the fused course angle has relatively high precision in a long time; the inertial navigation direction angle, the double-antenna course angle, the velocity decomposition course angle and the angular velocity information of the carrier are comprehensively utilized, so that the fused course angle has higher reliability and stability.

The embodiment of the application discloses an indoor positioning method, device, mobile terminal and storage medium, the method comprises: predicting the state of the mobile terminal at the target time based on acceleration and angular velocity, obtaining first state information; height estimation is carried out based on acceleration and first height, and second height is obtained; the first state information is corrected based on the first height, the second height and the pseudo-range observation value, and the second state information is obtained; indoor positioning is carried out based on the second state information and indoor map information. In this way, the accuracy and reliability of indoor positioning by the pseudolite are improved by fusing the multi-source data collected by the sensor system. Especially, the second height (fusion of the acceleration measured by the accelerometer and the first height measured by the barometer) can compensate for the adverse effects of the large vertical geometric dilution of precision of the pseudolite layout on height positioning, improve the accuracy of height estimation, and thus improve the accuracy of floor positioning.

The application relates to the technical field of navigation, in particular to a combined positioning system for realizing GNSS / SINS combined vehicle CAN bus speed information, which is based on a MEMS-IMU and a GNSS receiving module, can obtain required inertial navigation calculation information and GNSS positioning information in real time, can obtain vehicle speed information through an OBD port of the vehicle, and finally can obtain a fusion positioning result by PC processing of the parameters. The combined navigation algorithm principle is based on a fusion positioning algorithm of an extended Kalman filter, and a non-integrity constraint algorithm and a zero-speed correction technology are introduced. The application enhances the robustness of the combined navigation system, and can better meet the demand for high precision and high stability of vehicle positioning.