Error correction method, device and system for inertial navigation system

Abstract

Embodiments of the invention provide an error correction method, an error correction device and an error correction system for an inertial navigation system. The inertial navigation system revises positional parameters of a moving object on the basis of a navigation map and GPS so as to realize inertial navigation recursion. The method includes: determining the working state of the inertial navigation system according to acquired current positional parameters, map reference positional parameters, and GPS reference positional parameters of the moving object; and if it is determined that the inertial navigation system is in an abnormal working state, using the GPS reference positional parameters to update the inertial navigation initial parameters of the inertial navigation system, and resetting the inertial navigation system in an initial state. Wrong navigation system match caused by map deviation resulted from untimely navigation map road network information updating or inaccurate surveying and mapping and the like can be reduced, and the accuracy of inertial navigation is substantially improved.

Description

technical field [0001] The invention relates to the field of electronic technology, in particular to an error correction method, device and system for an inertial navigation system. Background technique [0002] Inertial navigation systems or their equivalents may also be referred to as inertial guidance systems, inertial reference platforms, etc. Typically, an inertial navigation system has an arithmetic unit and multiple motion sensors, such as gyroscopes and accelerometers, to continuously calculate the position, orientation, velocity, and other positioning information of moving objects. By inputting initial navigation information and adding motion information of the moving object measured by the motion sensor, such as linear velocity and angular velocity, to the initial navigation information, updated navigation information of the moving object is obtained through calculation. However, the accuracy error and measurement error of the motion sensor will gradually accumula...

AI Technical Summary

Problems solved by technology

Although the inertial navigation system can greatly improve the recursive performance of the inertial navigation system through map assistance, the map deviation caused by the untimely update of the road network information of the navigation map or inaccurate surveying and mapping will cause the inertial navigation system to generate a wrong match. Failure to identify the above errors in time will greatly reduce the accuracy of navigation

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