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Multi-source combined navigation positioning method in complex environment

A combined navigation and complex environment technology, applied in the field of navigation and positioning, can solve the problems of little operability and practicability, low system reliability, and many interferences, so as to reduce computational complexity, ensure continuity, and improve The effect of precision and reliability

Pending Publication Date: 2022-05-27
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0005] A technology closer to the present invention is to use a visual system combined with a 3D city model to identify city blocks for location detection, but this method has low system reliability due to more ground interference in cities , it is easier to be affected by other carriers, pedestrians and other obstacles, and the operability and practicability are of little significance

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  • Multi-source combined navigation positioning method in complex environment
  • Multi-source combined navigation positioning method in complex environment
  • Multi-source combined navigation positioning method in complex environment

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Embodiment Construction

[0110] A multi-source combined navigation and positioning method in complex environment, such as figure 1 First, obtain the measurement information of the GNSS receiver and multi-sensor, including Doppler frequency shift, pseudorange, carrier phase measurement provided by GNSS; specific force and angular velocity obtained by IMU; carrier speed provided by OBD system; barometric altimeter Obtained barometric altitude. Second, mechanically orchestrate the IMU; perform fault detection on GNSS measurements to extract available signals. Next, input the speed measured by Doppler frequency shift, the carrier speed obtained by OBD, the IMU speed, attitude, and position information obtained by mechanical programming into Kalman filter to obtain the speed estimate of the carrier; determine whether the carrier phase measurement and pseudorange measurement are Available, input Hatch filter when available, use Kalman filter velocity estimation input Hatch filter to update when available, ...

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Abstract

The invention discloses a multi-source integrated navigation and positioning method in a complex environment, and belongs to the technical field of satellite positioning and navigation. In an urban environment, signals of a global navigation satellite system are easily reflected or shielded by surrounding buildings, and the precision and reliability of positioning of a pure global navigation satellite system in the urban environment can be remarkably reduced. According to the method, carrier speeds obtained by an online diagnosis system, Doppler frequency shift measurement and an inertial measurement element are subjected to tight coupling through Kalman filtering, and speed estimators are output; the precision of pseudo-range observation is improved through a classic carrier smoothing pseudo-range algorithm Hatch filtering, the carrier position is solved, and when a global navigation satellite system signal is unavailable, the speed estimation output by a Kalman filter is used as the update substitution of the Hatch filtering, so that the continuity of carrier smoothing pseudo-range positioning is ensured, and the accuracy of carrier smoothing pseudo-range positioning is improved. And finally, the positioning precision and reliability of the urban environment are improved.

Description

technical field [0001] The invention relates to a navigation and positioning method, in particular to a multi-source combined navigation and positioning method in a complex environment. Background technique [0002] In recent years, accurate and reliable urban environment positioning has attracted widespread attention, such as autonomous driving, urban drones, etc. Such carriers and aircraft need to operate in low-altitude urban environments. In order to improve the navigation and positioning performance of urban environment, Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS), magnetic compass, high-precision electronic map, visual sensor, light detection and ranging ( A lot of research has been done on the fusion of multi-source information such as Light Detection And Ranging (LiDAR), altimeter, odometer, Inertial Measurement Unit (IMU), and speed sensor. [0003] Kassas proposed a signal-of-opportunity / digital map / IMU / GNSS combination method, (...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/48G01S19/49G01C21/00G01C21/20
CPCG01S19/48G01S19/49G01C21/005G01C21/20
Inventor 孙蕊黄薛东邱明蒋磊程琦
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS