A positioning method and device based on inertial navigation and satellite navigation
A positioning method and satellite navigation technology, which is applied in the field of positioning methods and devices based on inertial navigation and satellite navigation, and can solve the problems that satellite signals affect positioning results and GNSS signal environment has a large impact
Active Publication Date: 2021-09-10
湖南云箭格纳微信息科技有限公司
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Problems solved by technology
[0005] The problem to be solved by the present invention is to provide a positioning method and device based on inertial navigation and satellite navigation for the problem that the positioning result is affected when the satellite signal quality is poor and the GNSS signal is greatly affected by the environment.
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[0070] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings of the present application. Apparently, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0071] Such as figure 1 — Figure 7 As shown, the present invention provides a positioning method and device based on inertial navigation and satellite navigation.
[0072] The micro inertial navigation / satellite navigation (INS / GNSS) global personnel positioning system provided by the present invention is a precise positioning system that seamlessly connects indoors and outdoors. The realization of the present invention mainly includes:
[0073] (1) MEMS rapid and...
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The present invention provides a positioning method and device based on inertial navigation and satellite navigation, comprising: step (1): calculating the first included angle, horizontal axis translation amount, and vertical axis translation amount; The estimated value of the coordinates and the estimated value of the heading angle in the azimuth coordinate system are used to construct the system state matrix, and the estimated value of the step size and heading angle of the personnel in the horizontal free azimuth coordinate system is used to construct the system parameter matrix. The heading angle constructs the measured value matrix, thereby constructing the state equation and the measurement equation of the extended Kalman filter; the estimated value of the personnel coordinates is calculated by using the extended Kalman filter method. The present invention utilizes the combination of satellite navigation and micro-inertial navigation, utilizes the advantages of high precision of satellite navigation, stable error and no accumulation over time, and the short-term high precision of inertial navigation to realize high-precision positioning in long-term complex scenes, and can realize indoor The seamless connection of external and precise positioning.
Description
technical field [0001] The invention relates to a positioning method and device, in particular to a positioning method and device based on inertial navigation and satellite navigation. Background technique [0002] As the value of urban land increases, the buildings in the city are built higher and higher, and the variety of apartment types makes the internal structure more and more complicated. When a fire or other accident occurs, how to rescue the trapped people at the first time is very important. , which puts forward very high requirements for on-site command and dispatch, and to achieve efficient command, it is necessary to know the current position of each rescued person and rescuer at all times. However, the fire scene is full of smoke and dust, the lighting equipment fails, the visibility is low, and the accuracy of identifying the position by itself is greatly reduced. Therefore, the individual positioning system provides good technical support. With the help of th...
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IPC IPC(8): G01C21/16G01C21/20G01S19/47
CPCG01C21/165G01C21/20G01S19/47
Inventor 闵涛满小三罗小勇杨丛昊
Owner 湖南云箭格纳微信息科技有限公司