Vehicle-mounted integrated navigation system and positioning method

Abstract

The invention provides a vehicle-mounted integrated navigation system. The vehicle-mounted integrated navigation system includes an inertial measurement device, a satellite navigation module, an odometer and an integrated navigation computer. The inertial measurement device includes a gyroscope and an accelerometer. The integrated navigation computer is connected with the inertial measurement device, the satellite navigation module and the odometer, and is provided with an inertial navigation subsystem and a Kalman filter. The inertial navigation subsystem performs inertial navigation solutionon an inertial navigation signal to obtain inertial navigation parameters. The Kalman filter can use information provided by the satellite navigation module or a carrier movement speed provided by the odometer as an observation signal in a switch mode to dynamically estimate errors of the inertial navigation parameters, and correct the navigation parameters based on the errors. The vehicle-mounted integrated navigation system adopts a combination of inertial navigation, satellite navigation and the odometer, so that the solution accuracy of inertial navigation can be improved in areas with good satellite navigation signals, and the vehicle-mounted integrated navigation system can still provide high-precision location information for vehicles in areas with reduced satellite navigation positioning accuracy or unavailable satellite navigation positioning.

Description

technical field [0001] The invention relates to a navigation system and a positioning method, in particular to a vehicle-mounted integrated navigation system and a positioning method. Background technique [0002] Navigation and positioning is an important means to ensure human transportation and military activities, and plays a key role in the control of vehicles, aircraft, ships and even underwater vehicles. For example, in the railway train control system, it is the basic requirement of the train control system to obtain the train position in real time and with high precision. Especially when the train speed is getting faster and the train density is getting higher and higher, it is inseparable from the support of high-precision train positioning methods and equipment to monitor and manage trains in the entire network safely and efficiently. For another example, self-driving cars are also inseparable from high-precision location information acquisition technology. [00...

AI Technical Summary

Problems solved by technology

[0011] The present invention aims to provide a new integrated navigation method and equipment to solve the high-precision positioning problem of the integrated navigation system combining satellite navigation and inertial navigation when the availability of satellite navigation is reduced or unavailable

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