Tight-coupling GNSS/INS combined navigation device

Abstract

The invention discloses a tight-coupling GNSS / INS combined navigation device. The combined navigation device utilizes a tight coupling method to combine a low-precision inertial navigation system INS with a global navigation satellite system GNSS, the defects that the error of the low-cost low-precision inertial navigation system is increased along with time accumulation is made up, and meanwhile the positioning stability in the area that the signal of the global navigation satellite system (GNSS) is sheltered is guaranteed. According to the device, mainly by eliminating the error of the low-precision inertial navigation system, a leveling method is combined with single-antenna attitude determination for initial alignment, a tightly coupled filter technology and a position error modeling technology are tightly used, and the posture precision is guaranteed by regularly feeding back an attitude angle calculated by a single-antenna attitude determination method to the inertial system, so that high-performance combined navigation of the low-precision inertial navigation system is realized; and the device effectively solves initial alignment of the inertial navigation attitude angle and combined filtering in complex environments, meanwhile the precision of calculation and the stability of positioning are guaranteed, the application field of a high-overload resistant system is expanded, and low-cost and high-performance combined navigation is realized.

Description

technical field [0001] The invention relates to a tightly coupled GNSS / INS combined navigation device, which belongs to the field of navigation. Background technique [0002] The performance and application range of any kind of navigation equipment have certain limitations, and it is impossible to fully meet the requirements of modern navigation. The integrated navigation system composed of INS inertial navigation and GNSS satellite navigation can realize the complementary advantages of the two. The long-term stability and high precision of GNSS are used to make up for the shortcomings of INS errors accumulated over time. At the same time, the short-term high precision of the INS can be used to make up for the shortcomings of the GNSS system, such as the susceptibility to interference and the easy loss of signal locks. The combined navigation system can achieve high-precision, long-term reliable navigation and positioning, and has the characteristics of low cost and small ...

AI Technical Summary

Problems solved by technology

[0004] With the rapid development of navigation systems, inertial navigation can provide real-time attitude information for the carrier in various occasions, but because low-cost, low-precision devices can not guarantee the accuracy of the attitude while ensuring the reliability of the attitude, so the study of low-precision INS modules and satellite navigation receivers, develop high-performance integrated navigation devices, realize the commercialization of low-cost, high-performance integrated navigation systems, and expand the application fields of low-cost, low-precision inertial devices

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