Vehicle-mounted integrated navigation system based on information filtering

Abstract

The invention discloses a vehicle-mounted integrated navigation system based on information filtering. The system comprises a GPS navigation unit coupled to a motion object, a dead reckoning (DR) navigation unit coupled to the motion object, a turn judgment unit and an information filter (IF) coupled to the GPS navigation unit, the DR navigation unit and the turn judgment unit; the GPS navigation unit periodically calculates GPS navigation information and judges the output result of a GPS turn judgment unit coupled to a GPS according to historical course angle information; DR navigation information is periodically reckoned according to the reference position and direction stored in the DR navigation unit, and a turn judgment unit coupled to the DR navigation unit outputs a judgment result according to the course angle change and curvature; the turn judgment unit integrates the GPS turn judgment unit and the DR turn judgment unit to obtain the state of the motion object and correct a DR formula; the IF is used for periodically calculating the navigation information of the motion object. The IF is used for integrating the GPS navigation information and the DR navigation information, and therefore a navigation function with higher precision and higher reliability is achieved.

Description

technical field [0001] The present invention relates to navigation technology, in particular to an integrated navigation system and method. Background technique [0002] Since the Global Positioning System (Global Positioning System, GPS) has the advantages of global coverage and high precision, it is widely used in car navigation to provide the absolute position of the car according to the received satellite signals. However, since tall buildings, trees, pipelines, viaducts, etc. will hinder the propagation of satellite signals, it is difficult to achieve continuous GPS navigation in an urban environment, and other auxiliary means are needed to obtain continuous and reliable positioning information. [0003] A Dead Reckoning (DR) navigation system is mainly composed of positioning sensors (eg, gyroscope, odometer, etc.), which have high autonomy and high sampling rate. However, since the DR navigation system derives the absolute vehicle position at the current moment based...

AI Technical Summary

Problems solved by technology

However, since the DR navigation system derives the absolute position of the vehicle at the current moment based on the absolute position of the vehicle at the previous moment and the current calculated relative displacement, the measurement error of the DR navigation system will gradually accumulate over time

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