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A combined navigation system and method for obtaining navigation coordinates

An integrated navigation system and navigation computer technology, applied in the field of navigation, can solve problems such as the difficulty in meeting the development needs of micro and small systems, the high price of high-precision inertial devices, and the difficulty in meeting the requirements of 4 satellites, so as to reduce the risk of losing lock, Improve the adaptability and reliability, and reduce the effect of system cost

Active Publication Date: 2018-05-08
SHANGHAI HUACE NAVIGATION TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In the existing integrated navigation system, GPS single-point positioning is generally used to provide the position and speed information of the carrier, while the ordinary GPS receiver is affected by satellite clock error, tropospheric error, ionospheric error, multipath effect, etc. The accuracy is about 20 meters, and the GPS single system is difficult to meet the requirements of 4 satellites in the urban environment, and the reliability and positioning accuracy are low
In addition, high-precision inertial devices have disadvantages such as high price, large size, and difficulty in integration, which make it difficult to meet the development needs of micro-miniature systems

Method used

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  • A combined navigation system and method for obtaining navigation coordinates
  • A combined navigation system and method for obtaining navigation coordinates
  • A combined navigation system and method for obtaining navigation coordinates

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Embodiment 1

[0045] In this embodiment, the present invention provides a MSINS / GNSS integrated navigation system, refer to Figure 1 to Figure 4 As shown, the system includes a micro-inertial device MEMS module 10, a GNSS module 20 and a navigation computer 30, and the MEMS module 10 and the navigation computer 30 constitute an MSINS navigation system. An MSINS / GNSS integrated navigation system is installed on the use carrier. Wherein, MEMS module 10 comprises MEMS gyroscope 11 and MEMS accelerometer 12, and MEMS gyroscope 11 is responsible for outputting angular velocity signal to navigation computer 30, and MEMS accelerometer 12 is responsible for outputting acceleration information to navigation computer 30; GNSS module 20 is used for receiving and outputting Satellite navigation signal to navigation computer 30; Navigation computer 30 is connected with MEMS module 10 and GNSS module 20, and this navigation computer 30 is according to the angular velocity signal that MEMS gyroscope 11 o...

Embodiment 2

[0056] In this embodiment, the present invention provides a method for obtaining navigation coordinates using the MSINS / GNSS integrated navigation system of Embodiment 1, which can be referred to image 3 and Figure 4 , including the following steps:

[0057] Step 1: The error compensation unit 311 of the mathematics platform 31 in the navigation computer 30 receives the angular velocity signal output by the three-axis MEMS gyroscope 11 in the MEMS module 10, and the specific force acceleration information output by the three-axis MEMS accelerometer 12, and performs error compensation, and outputs Angular velocity and acceleration information after error correction.

[0058] Step 2: The attitude matrix calculation unit 313 of the mathematics platform 31 in the navigation computer 30 is initialized with the initial information at the initial moment, and subsequently uses the attitude matrix algorithm to calculate the attitude matrix at the corresponding moment.

[0059] Step...

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Abstract

The invention provides an integrated navigation system and a method for acquiring navigation coordinate, the system comprises: an MEMS module which comprises an MEMS gyroscope for outputting an angular velocity signal and an MEMS accelerometer for outputting acceleration information; a GNSS module for receiving and outputting a satellite navigation signal; a navigation computer connected with the MEMS module and the GNSS module, wherein the navigation computer performs a error compensation calculation, an attitude calculation and a location and speed calculation according to the angular velocity signal outputted by the MEMS gyroscope, the acceleration information outputted by the MEMS accelerometer and the satellite navigation signal outputted by the GNSS module to obtain location, attitude and speed information. According to the invention, a navigation system using an MSINS / GNSS integrated navigation system as a carrier is adopted, the requirements of low cost and high integration are met, and a relatively high positioning precision and high reliable are reached.

Description

technical field [0001] The invention relates to the technical field of navigation, and is applicable to attitude control, course reference, integrated navigation and the like, and specifically relates to an MSINS / GNSS integrated navigation system. Background technique [0002] At present, the increasing demand for seamless vehicle navigation applications and the development of domestic drones in recent years have put forward a series of new requirements for navigation systems: low cost, miniaturization, low power consumption, high precision, and high reliability. The satellite navigation system can provide absolute position, speed, and time, and the positioning accuracy and time accuracy can maintain high accuracy for a long time. Inertial navigation can measure all motion parameters and can maintain high accuracy in a short time. Therefore, the combination of the two can maintain the stability of the navigation system for a long time and provide all the motion parameters o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/38G01S19/40G01S19/47
CPCG01S19/38G01S19/40G01S19/47
Inventor 肖乐杰罗寒旭陈德科刘合丽周瑾
Owner SHANGHAI HUACE NAVIGATION TECH