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Inertial navigation system and method

An inertial navigation system, inertial navigation technology, applied in navigation, surveying and navigation, navigation through speed/acceleration measurement, etc., can solve problems such as incompatibility, large positioning error, etc., to solve the problem of excessive cumulative error and abundant signal resources Effect

Inactive Publication Date: 2019-07-09
GUILIN UNIV OF ELECTRONIC TECH
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Problems solved by technology

[0004] In view of this, the purpose of the present invention is to provide an inertial navigation system and method, which can solve the problem of large positioning errors due to incompatibility between different signals of opportunity when using neural networks to process multiple signals of opportunity positioning

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  • Inertial navigation system and method

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Embodiment Construction

[0027] The present invention will be described in detail below in conjunction with accompanying drawing and specific embodiment:

[0028] Such as figure 1 Shown, inertial navigation system of the present invention comprises:

[0029] The inertial navigation module 1 is placed on a carrier, and includes an inertial measurement unit 11 and a data calculation unit 12. The inertial measurement unit 11 obtains the inertial position of the carrier in real time, and the data calculation unit 12 performs a measurement on the inertial measurement unit 12. The measured value of the unit 11 is solved to obtain inertial navigation information, and the inertial navigation information includes one or more of position information, velocity information and attitude information;

[0030] A signal of opportunity acquisition module 21, configured to capture multiple signals of opportunity in the environment;

[0031] The opportunity signal processing module 2 includes a judging unit 22 and a d...

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Abstract

The invention discloses an inertial navigation system and method. On the basis of a neural network assisted opportunity signal / inertial navigation module, an indoor space is positioned and navigated,positioning accuracy can be improved under a situation that a satellite signal is good, in addition, a high-accuracy indoor positioning result can be provided under an indoor satellite signal denialcondition, neural network assisted data fusion is adopted, the problem of big positioning errors since opportunity signals are incompatible when different opportunity signals are used for positioningcan be solved, the reliability and the safety of the inertial navigation system can be improved, all modules of the inertial navigation system independently work and do not mutually affect, and the stability and the anti-interference performance of the inertial navigation system can be improved.

Description

technical field [0001] The invention relates to the technical field of inertial navigation, in particular to an inertial navigation system and method. Background technique [0002] Existing satellite signals cannot penetrate buildings, and it is difficult to use satellite signals for positioning indoors, while the signal of opportunity is a kind of radio signal. Indoor radio signal resources are abundant, especially the popularity of mobile devices, making the use of mobile signals for indoor positioning possible. [0003] Inertial navigation is an autonomous positioning system, which can be positioned through its own information without relying on external information, but the inertial navigation error accumulates over time and cannot be positioned for a long time. Usually, other navigation systems are used to correct the inertial navigation error; The trained neural network can solve the problem of large positioning errors caused by incompatible signals of opportunity. At...

Claims

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 符强赵鸿悦纪元法孙希延严素清付文涛王守华
Owner GUILIN UNIV OF ELECTRONIC TECH
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