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.

Pending Publication Date: 2020-08-07
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0003] The problem solved by the present invention is that the prior art has poor precision in special navigation environment and cannot meet the requirements of navigation and positioning

Method used

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  • Positioning method, device and system based on inertial navigation
  • Positioning method, device and system based on inertial navigation
  • Positioning method, device and system based on inertial navigation

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Embodiment Construction

[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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Abstract

The invention provides a positioning method, device and system based on inertial navigation and relates to the technical field of signal positioning. The positioning method based on inertial navigation comprises the following steps of: acquiring the characteristic vector of a magnetic beacon at a target, acquiring the state output of an inertial navigation system, and determining the position of the target according to the state output and the characteristic vector; and 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. According to the technical schemes of the invention, the low-frequency magnetic field characteristic vector is generated through the magnetic beacon, so that a navigation service scheme with long working time, stability and positioning and attitude determination functions is provided in complex environments with a large number of obstacles, such as underground and indoor environments; and the position and attitude accumulation error of the inertial navigation system is corrected according to the characteristic that the error is not accumulated along with time, so that the system precision of integrated navigation is effectively improved.

Description

technical field [0001] The present invention relates to the technical field of signal positioning, in particular to a positioning method, device and system based on inertial navigation. Background technique [0002] With the development of technology, people's demand for location-based services is also increasing. Outdoors, with the improvement and popularization of satellite navigation systems such as GPS and Beidou, positioning accuracy services have basically met people’s daily needs; however, in some harsh environments such as dense obstacles and occlusions, GPS and other navigation signals may Positioning accuracy cannot be guaranteed. Contents of the invention [0003] The problem solved by the invention is that the accuracy of the prior art is poor in a special navigation environment and cannot meet the requirements of navigation and positioning. [0004] In order to solve the above problems, the present invention provides a positioning method based on inertial na...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 李清华郑元勋李新年陈亚娟黄灿
Owner HARBIN INST OF TECH
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