Vehicle-mounted GNSS/INS integrated navigation method based on dual correction

Abstract

The invention belongs to the technical field of satellite navigation and positioning, and particularly provides a vehicle-mounted GNSS / INS integrated navigation method based on dual correction, whichcomprises the following steps: firstly, initializing a GNSS system to obtain a fixed solution, and estimating the GNSS position of a vehicle by using extended Kalman filtering according to the carrierand pseudo-range observation value of the GNSS; and calculating the difference between the GNSS position after Kalman filtering correction and the position output by the INS, taking the result as anobservation value to carry out Kalman filtering estimation again, carrying out output correction on the position output by the INS according to the result, and finally taking the obtained INS positionas the final result of the system position. According to the scheme, Kalman filtering correction is firstly carried out on the position output by the GNSS, and then Kalman filtering correction is carried out on the INS position by utilizing the corrected GNSS position, so that the precision and reliability of the position of the integrated navigation positioning system are improved. The problem that the GNSS / INS integrated navigation positioning system is poor in output position precision under the condition of poor satellite signals is solved.

Description

technical field [0001] The invention belongs to the technical field of satellite navigation and positioning, and in particular relates to a vehicle-mounted GNSS / INS integrated navigation method based on double correction. Background technique [0002] As the main artery of my country's national economy, important national infrastructure, and popular means of transportation, railway has many advantages such as large transport capacity, high efficiency, long transport distance, and low energy consumption. It is very suitable for the basic national conditions of my country's large population and vast territory. important role in economic and social development. As the "nerve center" of railway transportation, the train operation control system is the core to ensure the safety of railway traffic and improve transportation efficiency. It needs to grasp the information such as the speed and position of the train in real time and accurately. Improving the safety level of train oper...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the problem of low reliability and low positioning accuracy of the integrated navigation and positioning system as a whole under the situation of poor satellite signals in the prior art

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