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Integrated navigation positioning method and device based on short base line

A combined navigation and positioning method technology, applied in the field of inertial navigation, can solve the problems of inconvenient movement and large size, and achieve the effect of compact equipment, convenient movement, and guaranteed positioning accuracy and reliability

Pending Publication Date: 2021-10-26
山东泉清通信有限责任公司
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Problems solved by technology

[0005] The invention provides a combined navigation and positioning method and device based on a short baseline, which are used to solve the problems of large volume and inconvenient movement of existing equipment

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  • Integrated navigation positioning method and device based on short base line
  • Integrated navigation positioning method and device based on short base line
  • Integrated navigation positioning method and device based on short base line

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Embodiment Construction

[0046] In order to clearly illustrate the technical features of this solution, the present invention will be described in detail below through specific implementation modes and in conjunction with the accompanying drawings. The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and / or letters in different instances. This repetition is for the purpose of simplicity and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. It should be noted that components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and processes are omitted herein to avoid unnecessarily limiting the...

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Abstract

The invention provides an integrated navigation positioning method and device based on a short base line. The method comprises the steps of obtaining a PPS signal of a multimode receiver, and carrying out the positioning through an RTK mode, taking positioning information in the PPS signal as an initial value of INS, conducting INS calculation, and acquiring INS information, and combining the successfully positioned PPS signal and the INS information through Kalman filtering to obtain optimal attitude position information. A short base line is adopted, the length of the base line is only 320 mm, two receiving antennas are arranged, the weight is only 5 kg, the device is small and exquisite, movement is convenient, GNSS and INS combined navigation is achieved, fast positioning can be achieved through the INS when a carrier is shielded, a high-precision INS inertial element is adopted, meanwhile, errors of the inertial element are optimized through Kalman filtering, deviation of the INS inertial element can be corrected through positioning information of the GNSS, and the positioning precision and reliability of the system are ensured.

Description

technical field [0001] The invention relates to the technical field of inertial navigation, in particular to a short baseline-based combined navigation and positioning method and device. Background technique [0002] The existing inertial navigation system is mainly a GPS / INS (GPS, Global Positioning System global positioning system; INS, Inertial Navigation System, inertial navigation system) integrated navigation system. It is a frameless system consisting of three gyroscopes, three accelerometers and a microcomputer. The gyroscopes and accelerometers are directly connected to the carrier, and the attitude data is obtained by calculating the output values ​​of the gyroscopes and accelerometers by the microcomputer. . [0003] Such as figure 1 As shown, the accelerometer measures the acceleration along the three axes of the carrier coordinate system. After the error compensation calculation, the coordinate transformation calculation is performed. The acceleration and the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20G01S19/49
CPCG01C21/165G01C21/20G01S19/49
Inventor 陈永秀赵宪臣李鸿伟李建志李美谚宋红艳方瑞银蔡学福刘文慧周熙军
Owner 山东泉清通信有限责任公司
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