Positioning method, device and system based on inertial navigation
An inertial navigation system and inertial navigation technology, applied in the field of devices and systems, positioning methods based on inertial navigation, can solve problems such as inability to meet navigation and positioning requirements, poor accuracy, etc., achieve strong robustness, and improve system accuracy.
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[0025] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0026] Such as figure 1 As shown, the embodiment of the present invention provides a positioning method based on inertial navigation, including: obtaining the characteristic vector of the magnetic beacon at the target, and obtaining the state output of the inertial navigation system, and determining according to the state output and the characteristic vector The position of the target; determining a position error and an attitude error according to the position of the target, and adjusting the position and attitude of the inertial navigation system according to the position error and the attitude error.
[0027] Specifically, in this embodiment, the positioning method based on inertial navigation includes: obtaining the feature vector of t...
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