Integrated navigation method and device, drivable equipment and computer storage medium

A combination of navigation and equipment technology, applied in the field of navigation, can solve the problems of low accuracy, achieve the effect of improving accuracy, ensuring accuracy and high precision, and reducing carrier vibration

Active Publication Date: 2021-12-17
GUANGDONG HUITIAN AEROSPACE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in practice, it is found that due to the influence of factors such as satellite signal occlusion and inertial navigation error divergence, the existing integrated navigation methods still have the problem of low accuracy.

Method used

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  • Integrated navigation method and device, drivable equipment and computer storage medium
  • Integrated navigation method and device, drivable equipment and computer storage medium
  • Integrated navigation method and device, drivable equipment and computer storage medium

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Embodiment Construction

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some, not all, embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0024] It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments of the present application and the drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally further includes For other steps or units inherent in these processes, methods, products...

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Abstract

The embodiment of the invention discloses an integrated navigation method and device, drivable equipment and a computer storage medium. The method, which is applied to the drivable equipment, comprises the steps of: processing inertial measurement data detected by an inertial measurement unit and satellite positioning data detected by a satellite positioning system through a direct Kalman filter to obtain a first navigation result of the drivable equipment at a first moment; processing the inertial measurement data and the satellite positioning data through an indirect Kalman filter to obtain a second navigation result of the drivable equipment at the first moment; and determining a target navigation result of the drivable equipment at the first moment according to the first navigation result and the second navigation result. By implementing the embodiment of the invention, the accuracy of a navigation result is improved.

Description

technical field [0001] The present application relates to the technical field of navigation, in particular to an integrated navigation method, device, drivable equipment and computer storage medium. Background technique [0002] At present, drivable devices such as aircraft and vehicles can often combine data detected by an inertial navigation system (Inertial Navigation System, INS) and a global navigation satellite system (Global Navigation Satellite System, GNSS) to conduct integrated navigation for the drivable device. However, in practice, it is found that due to the influence of factors such as satellite signal occlusion and inertial navigation error divergence, the existing integrated navigation methods still have the problem of low accuracy. Contents of the invention [0003] The embodiment of the present application discloses a combined navigation method, device, drivable device and computer storage medium, which can improve the accuracy of navigation results. ...

Claims

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Application Information

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IPC IPC(8): G01S19/49G01S19/39G01C21/16
CPCG01S19/49G01S19/393G01C21/165
Inventor 赵德力储志伟陶永康朱耀钟张明明
Owner GUANGDONG HUITIAN AEROSPACE TECH CO LTD
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