Position correction method and system for inertial navigation assisted by position information

Abstract

The present invention belongs to the technical field of navigation and positioning, and relates to a method and system for inertial navigation position correction assisted by position information. First, external reference position information is obtained; angular velocity information collected by a gyroscope and acceleration information collected by an accelerometer in an inertial navigation system are obtained; based on the angular velocity information and the acceleration information, inertial navigation position information is obtained; the availability of the external reference position information is judged according to the inertial navigation position information and the external reference position information to obtain available external reference position information; the inertial navigation system is position-corrected by using the available external reference position information. The present application effectively utilizes the sparse and low-precision external reference position information obtained irregularly. As long as the external reference position information can pass the set judgment conditions, the inertial navigation can be position-corrected, and the cumulative error of the inertial navigation can be suppressed, which is of great significance for improving the long-term autonomous navigation and positioning ability of the inertial navigation.

Description

Technical Field

[0001] The present invention belongs to the technical field of navigation and positioning, and relates to a method and system for inertial navigation position correction assisted by position information. Background Art

[0002] Inertial navigation originated during World War II. Since its inception, it has been widely used in military and civilian fields. With the development of science and technology, it has played an important role in scenarios such as aerospace, aviation, and navigation. The advantages of inertial navigation are its autonomy and concealment. It can provide comprehensive navigation and positioning information such as the attitude, speed, and position of the carrier without the need to transmit and receive signals. However, it also has its own deficiencies. Inertial navigation errors will accumulate over time, which poses a severe challenge to long-duration navigation and positioning applications.

[0003] In order to make full use of the advantages of inertial navigation and avoid its deficiencies, other information is generally required for assistance to suppress the cumulative errors of inertial navigation. However, in some special environments, problems such as difficult access to reference information and relatively low accuracy of the obtained reference information are faced. For example, high-precision satellite positioning signals cannot be received underwater. At this time, the gravity-aided inertial navigation method can be adopted. However, if only the gravity database obtained by inverting satellite altimetry data is used for matching, the accuracy of the obtained external reference position information is limited, and the error is on the order of hundreds of meters or even larger. Moreover, in some areas of the global ocean, the gravity change is not obvious. It is difficult to obtain an effective matching position when passing through these areas, and the continuity and stability of gravity matching are difficult to guarantee. Satellite signals can be obtained on the water surface, but satellite signals are easily spoofed and interfered. At this time, the inertial / astronomical integrated navigation method can be adopted, provided that a good observation environment such as clear weather and no cloud cover is required. The continuity and stability of astronomical navigation are also difficult to guarantee.

[0004] In summary, in some special environments, it is difficult to obtain continuous, stable, and high-precision external reference position information, and only sparse and low-precision position information can be obtained irregularly. This is still useful auxiliary information in the long-duration navigation application of inertial navigation. The key lies in how to utilize it. Therefore, it is very necessary to study the inertial navigation position correction assisted by sparse and low-precision position information, which has important application value in the long-duration tasks of inertial navigation. Summary of the Invention

[0005] The purpose of the present invention is to provide a method and system for inertial navigation position correction assisted by position information to solve the technical problem of poor long-duration autonomous navigation and positioning ability of inertial navigation when it is difficult to obtain continuous, stable, and high-precision external reference position information in some prior art.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions:

[0007] In the first aspect of the present invention, a method for inertial navigation position correction assisted by position information is provided, including:

[0008] Obtain external reference position information; obtain the angular velocity information collected by the gyroscope and the acceleration information collected by the accelerometer in the inertial navigation system; based on the angular velocity information and the acceleration information, perform inertial navigation update calculation on the inertial navigation system to obtain inertial navigation position information;

[0009] Judge the availability of the external reference position information according to the inertial navigation position information and the external reference position information to obtain the available external reference position information;

[0010] Use the available external reference position information to correct the position of the inertial navigation system.

[0011] Preferably, in the step of performing inertial navigation update calculation on the inertial navigation system based on the angular velocity information and the acceleration information to obtain inertial navigation position information, the inertial navigation update calculation includes position update, velocity update and attitude update of the object to be measured; the update equations are specifically as follows:

[0012] The attitude update equation is:

[0013]

[0014]

[0015]

[0016]

[0017]

[0018] The velocity update equation is:

[0019]

[0020] The position update equation is:

[0021]

[0022] In the formula, represents the coordinate transformation matrix from the b system to the n system; represents differential of; is antisymmetric matrix of, represents the projection of the rotational angular velocity of the b system relative to the n system in the b system; is the observed value of the gyroscope, representing system relative to The projection of the rotational angular velocity of the [system] in the [system]; denotes the coordinate transformation matrix from the n - system to the b - system; denotes the projection of the rotational angular velocity of the n - system relative to the i - system in the n - system; denotes the projection of the earth's angular velocity of rotation in the [system]; denotes the projection of the rotational angular velocity of the [system] relative to the [system] in the [system]; denotes the earth's angular velocity of rotation, denotes the latitude, denotes the radius of curvature of the meridian, denotes the radius of curvature of the prime vertical, denotes the geodetic height, 、 denote the eastward and northward velocities respectively; denotes the specific force, corresponding to the observed value of the accelerometer, is the acceleration due to gravity; denotes the longitude, denotes the vertical velocity component; denotes the velocity in the [system]; denotes the differential of denotes the differential of denotes the differential of denotes the differential of

[0023] Preferably, the availability of the external reference position information is judged according to the inertial navigation position information and the external reference position information, and the available external reference position information is obtained. Specifically:

[0024] Determine the inertial navigation latitude and inertial navigation longitude in the inertial navigation position information; [[ID=6⑧]]

[0025] Determine the external reference latitude and external reference longitude in the external reference position information;

[0026] Judge the availability of the external reference latitude according to the inertial navigation latitude and the external reference latitude, and obtain the available reference latitude;

[0027] Judge the availability of the external reference longitude according to the inertial navigation longitude and the external reference longitude, and obtain the available reference longitude.

[0028] Preferably, judging the availability of the external reference latitude according to the inertial navigation latitude and the external reference latitude, and obtaining the available reference latitude, includes:

[0029] Calculate The difference between the external reference latitude and the inertial navigation latitude at a moment to obtain a first difference; calculate The difference between the external reference latitude and the inertial navigation latitude at a moment to obtain a second difference; calculate At a moment and The difference between the external reference latitudes at a moment to obtain a third difference; calculate The inertial navigation latitude at a moment and The difference between the external reference latitudes at a moment to obtain a fourth difference;

[0030] Judge the availability of the external reference latitude according to the first difference, the second difference, the third difference and the fourth difference to obtain an available reference latitude.

[0031] Preferably, judging the availability of the external reference latitude according to the first difference, the second difference, the third difference and the fourth difference includes:

[0032] When any one of the first difference, the second difference, the third difference and the fourth difference satisfies Condition 1 and Condition 2, it is judged that the external reference latitude is available; wherein,

[0033] Condition 1:

[0034] And And

[0035] Condition 2:

[0036] And And

[0037] In the formula, Represents The difference between the external reference latitude and the inertial navigation latitude at a moment; Represents The difference between the external reference latitude and the inertial navigation latitude at a moment; Represents At a moment and The difference between the external reference latitudes at a moment; Represents The difference between the inertial navigation latitude at a moment and The reference latitude at a moment; Represents taking the absolute value.

[0038] Preferably, judging the availability of the external reference longitude according to the inertial navigation longitude and the external reference longitude to obtain an available reference longitude, including:

[0039] Calculate The difference between the external reference longitude and the inertial navigation longitude at a moment is obtained to get a fifth difference; calculate The difference between the external reference longitude and the inertial navigation longitude at a moment is obtained to get a sixth difference; calculate At the moment of The difference between the external reference longitudes at the moment of At the moment of The difference between the inertial navigation longitudes at the moment is obtained to get an eighth difference;

[0040] The availability of the external reference longitude is judged according to the fifth difference, the sixth difference, the seventh difference and the eighth difference to obtain an available reference longitude.

[0041] Preferably, judging the availability of the external reference longitude according to the fifth difference, the sixth difference, the seventh difference and the eighth difference includes:

[0042] When any one of the fifth difference, the sixth difference, the seventh difference and the eighth difference satisfies condition 3 and condition 4, it is judged that the external reference longitude is available; wherein,

[0043] Condition 3:

[0044] And And

[0045] Condition 4:

[0046] And And

[0047] In the formula, Represents The difference between the external reference longitude and the inertial navigation longitude at the moment of Represents The difference between the external reference longitude and the inertial navigation longitude at the moment of Represents At the moment of The difference between the external reference longitudes at the moment of Represents At the moment of[[ID=6l]] The difference between the inertial navigation longitudes at the moment; Represents taking the absolute value.

[0048] In the second aspect of the present invention, a position correction system for inertial navigation assisted by position information is provided, including:

[0049] An acquisition unit for acquiring external reference position information; acquiring angular velocity information collected by a gyroscope in an inertial navigation system and acceleration information collected by an accelerometer; based on the angular velocity information and the acceleration information, performing inertial navigation update calculation on the inertial navigation system to obtain inertial navigation position information;

[0050] A judgment unit for judging the availability of the external reference position information according to the inertial navigation position information and the external reference position information to obtain available external reference position information;

[0051] A correction unit for performing position correction on the inertial navigation system by using the available external reference position information.

[0052] In a third aspect of the present invention, an electronic device is provided, which includes a processor and a memory, and the processor is configured to execute a computer program stored in the memory to implement the inertial navigation position correction method assisted by position information as described in any one of the above.

[0053] In a fourth aspect of the present invention, a computer-readable storage medium is provided, which is characterized in that the computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, the inertial navigation position correction method assisted by position information as described in any one of the above is implemented.

[0054] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0055] The present invention proposes an inertial navigation position correction technology assisted by sparse and low-precision external reference position information. Here, there is no constraint on the source of the external reference position information. The external reference position information can come from astronomical measurement or other navigation methods such as gravity matching. As long as the external reference position information can pass the set judgment conditions, the position of the inertial navigation can be corrected. Inertial navigation requires other information to assist in suppressing its own positioning error that accumulates over time. However, in reality, especially in some special scenarios, continuous, stable, and high-precision position information is often difficult to obtain, and only sparse and low-precision external reference position information can be obtained irregularly. This application effectively utilizes this information and can also suppress the cumulative error of inertial navigation, which is of great significance for improving the long-term autonomous navigation and positioning ability of inertial navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The specification drawings constituting a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0057] Figure 1 is a schematic flowchart of the method according to an embodiment of the present invention;

[0058] Figure 2 It is the flowchart of the inertial navigation position correction technology assisted by sparse low-precision position information according to the embodiment of the present invention;

[0059] Figure 3 It is the schematic diagram of the latitude error in the static simulation test according to the embodiment of the present invention;

[0060] Figure 4 It is the schematic diagram of the longitude error in the static simulation test according to the embodiment of the present invention;

[0061] Figure 5 It is the schematic diagram of the planar error in the static simulation test according to the embodiment of the present invention;

[0062] Figure 6 It is the schematic diagram of the latitude error in the dynamic simulation test according to the embodiment of the present invention;

[0063] Figure 7 It is the schematic diagram of the longitude error in the dynamic simulation test according to the embodiment of the present invention;

[0064] Figure 8 It is the schematic diagram of the planar error in the dynamic simulation test according to the embodiment of the present invention;

[0065] Figure 9 It is the system block diagram according to the embodiment of the present invention;

[0066] Figure 10 It is the structural block diagram of an electronic device according to the embodiment of the present invention.

[0067] Among them, 100 - electronic device; 101 - memory; 102 - processor; 103 - computer program; 104 - communication bus. Specific implementation manners

[0068] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0069] The following detailed descriptions are all exemplary descriptions, aiming to provide further detailed descriptions of the present invention. Unless otherwise specified, all technical terms adopted by the present invention have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs. The terms used in the present invention are only for describing specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention.

[0070] See Figure 1 , the present application discloses a method for inertial navigation position correction assisted by position information, which improves the long-term autonomous navigation and positioning ability of inertial navigation; including the following steps:

[0071] S1: Obtain external reference position information; obtain the angular velocity information collected by the gyroscope and the acceleration information collected by the accelerometer in the inertial navigation system; based on the angular velocity information and the acceleration information, perform inertial navigation update calculation on the inertial navigation system to obtain inertial navigation position information;

[0072] S2: Judge the availability of the external reference position information according to the inertial navigation position information and the external reference position information to obtain the available external reference position information;

[0073] S3: Use the available external reference position information to correct the position of the inertial navigation system.

[0074] A method for inertial navigation position correction assisted by position information disclosed in this application does not restrict the source of the external reference position information. The external reference position information can come from astronomical measurement or other navigation methods such as gravity matching. As long as the external reference position information can pass the set judgment conditions, the position of the inertial navigation can be corrected. Inertial navigation requires other information to assist in suppressing its own positioning error that accumulates over time. However, in reality, especially in some special scenarios, continuous, stable, and high-precision position information is often difficult to obtain, and only some sparse and low-precision external reference position information can be obtained irregularly. This application effectively utilizes this information and can also suppress the cumulative error of inertial navigation, which is of great significance for improving the long-term autonomous navigation and positioning ability of inertial navigation.

[0075] In some embodiments, in the step of performing inertial navigation update calculation on the inertial navigation system based on the angular velocity information and the acceleration information to obtain inertial navigation position information, the inertial navigation update calculation includes position update, velocity update, and attitude update of the object to be measured; the update equations are as follows:

[0076] The attitude update equation is:

[0077]

[0078]

[0079]

[0080]

[0081]

[0082] The velocity update equation is:

[0083]

[0084] The position update equation is:

[0085]

[0086] In the formula, represents the coordinate transformation matrix from the b system to the n system; represents the differential of; is the skew-symmetric matrix of, represents the projection of the rotational angular velocity of the b system relative to the n system in the b system; is the observed value of the gyroscope, representing the system relative to the system's rotational angular velocity in the system's projection; represents the coordinate transformation matrix from the n system to the b system; represents the projection of the rotational angular velocity of the n system relative to the i system in the n system; represents the projection of the earth's angular velocity of rotation in the system; represents the system relative to the system's rotational angular velocity in the system's projection; represents the earth's angular velocity of rotation, represents the latitude, represents the radius of curvature of the meridian, represents the radius of curvature of the prime vertical, represents the geodetic height, , respectively represent the eastward and northward velocities; represents the specific force, corresponding to the observed value of the accelerometer, is the acceleration due to gravity; represents the longitude, represents the vertical velocity component; represents the velocity in the system; represents the differential of; represents the differential of; represents the differential of; represents the differential of.

[0087] In some embodiments, the availability of the external reference position information is determined based on the inertial navigation position information and the external reference position information to obtain the available external reference position information. Specifically:

[0088] Determine the inertial navigation latitude and inertial navigation longitude in the inertial navigation position information;

[0089] Determine the external reference latitude and the external reference longitude in the external reference position information;

[0090] The availability of the external reference latitude is determined according to the inertial navigation latitude and the external reference latitude, and the available reference latitude is obtained;

[0091] The availability of the external reference longitude is determined according to the inertial navigation longitude and the external reference longitude to obtain the available reference longitude.

[0092] In some embodiments, the process of determining the availability of the external reference latitude and obtaining the available reference latitude is as follows:

[0093] Step 1: Obtain the difference between the external reference latitude and the inertial navigation latitude at two adjacent moments, including:

[0094] The difference between the external reference latitude and the inertial navigation latitude at the moment is the first difference:

[0095]

[0096] The difference between the external reference latitude and the inertial navigation latitude at the moment is used to obtain the second difference:

[0097]

[0098] Moment and The difference between the external reference latitudes at the moment gives the third difference:

[0099]

[0100] The inertial navigation latitude and The difference between the external reference latitudes at the moment gives the fourth difference:

[0101]

[0102] Step 2: Determine the availability of the external reference latitude based on the first difference, the second difference, the third difference, and the fourth difference. When the first difference, the second difference, the third difference, and the fourth difference meet any one of conditions 1 and 2, determine that the external reference latitude is available; wherein,

[0103] Condition 1:

[0104] and and

[0105] Condition 2:

[0106] and And

[0107] Wherein, represents the difference between the external reference latitude and the inertial navigation latitude at the represents the reference latitude at the represents the inertial navigation latitude at the represents the reference latitude at the represents the inertial navigation latitude at the represents the difference between the reference latitude and the inertial navigation latitude at the represents the difference between the reference latitudes at the and the represents the difference between the inertial navigation latitude at the and the reference latitude at the represents taking the absolute value.

[0108] In some embodiments, the process of determining the availability of the external reference longitude based on the inertial navigation longitude and the external reference longitude to obtain the available reference longitude is as follows:

[0109] Step 1: Obtain the differences based on the external reference longitudes and the inertial navigation longitudes at two adjacent times, including:

[0110] the difference between the external reference longitude and the inertial navigation longitude at the

[0111]

[0112] to obtain the fifth difference:

[0113]

[0114] the difference between the external reference longitudes at the and the

[0115]

[0116] to obtain the seventh difference: the difference between the inertial navigation longitudes at the

[0117]

[0118] Step 2: Determine the availability of the external reference longitude based on the fifth difference, sixth difference, seventh difference, and eighth difference to obtain the available reference longitude; when any one of the fifth difference, sixth difference, seventh difference, and eighth difference satisfies Condition 3 or Condition 4, it is determined that the external reference longitude is available; where

[0119] Condition 3:

[0120] and and

[0121] Condition 4:

[0122] and and

[0123] In the formula, represents the difference between the external reference longitude and the inertial navigation longitude at represents the reference longitude at represents the inertial navigation longitude of represents the reference longitude at represents the inertial navigation longitude at represents the difference between the external reference longitude and the inertial navigation longitude at represents the difference between the reference longitudes at time and represents the difference between the inertial navigation longitudes at time and represents taking the absolute value.

[0124] In some embodiments, the specific technical solution adopted by the present invention to solve its technical problems is as follows: First, perform inertial navigation solution based on the measurement values of the gyroscope and accelerometer to obtain the attitude velocity position time series, and at the same time obtain sparse and low-precision external reference position information. The source of the external reference position information is not limited here and can come from celestial navigation, gravity matching, or other navigation methods. This application focuses on method research. Then, jointly perform comprehensive judgment on the position obtained by inertial navigation solution and the external reference position information, adopt the external reference position information that meets the requirements, and perform position correction on inertial navigation.

[0125] In some embodiments, inertial navigation solution is performed based on the measurement values of the gyroscope and the accelerometer to obtain an attitude velocity position time series, and at the same time, sparse and low-precision external reference position information is obtained;

[0126] After the inertial navigation system is correctly installed and starts to work, by performing calculations on the angular velocity information collected by the gyroscope and the acceleration information collected by the accelerometer, navigation parameters such as the attitude, velocity, and position of the carrier can be obtained in real time. At the same time, external reference position information is received.

[0127] Judge the availability of the external reference position information based on the inertial navigation position information and the external reference position information to obtain the external reference position information that meets the judgment conditions;

[0128] When making a comprehensive judgment, the latitude and longitude are processed separately. The availability of the external reference latitude is judged based on the inertial navigation latitude in the inertial navigation position information and the external reference latitude in the external reference position information to obtain the available reference latitude. The availability of the external reference longitude is judged based on the inertial navigation longitude in the inertial navigation position information and the external reference longitude in the external reference position information to obtain the available reference longitude.

[0129] Use the external reference position information that meets the judgment conditions to correct the position of inertial navigation.

[0130] Based on the comprehensive judgment in the previous step, assign the external reference latitude that meets the judgment conditions to the latitude obtained by inertial navigation solution, and assign the external reference longitude that meets the judgment conditions to the longitude obtained by inertial navigation solution.

[0131] In some embodiments, an inertial navigation position correction method assisted by position information includes the following steps:

[0132] S1: Obtain inertial navigation position information and external reference position information. Receive external reference position information; use the angular velocity information collected by the gyroscope in the inertial navigation system, and use the acceleration information collected by the accelerometer in the inertial navigation system; based on the angular velocity information and the acceleration information, through inertial navigation update calculation, obtain inertial navigation position information; the core components of the inertial navigation system are the gyroscope and the accelerometer, which measure the angular velocity information and the acceleration information respectively to obtain navigation parameters such as attitude, velocity, and position. The inertial navigation update calculation is as follows:

[0133] The attitude update equation is:

[0134] (1)

[0135] Wherein, is the skew-symmetric matrix of It represents the projection of the rotational angular velocity of the b system relative to the n system in the b system.

[0136] (2)

[0137] (3)

[0138] In the formula, is the observed value of the gyroscope, representing the rotational angular velocity of the system relative to the system projected in the It represents the projection of the Earth's angular velocity of rotation in the system. It represents the rotational angular velocity of the system relative to the system projected in the

[0139] (4)

[0140] (5)

[0141] In the formula, represents the Earth's angular velocity of rotation, represents the latitude, represents the radius of curvature of the meridian, represents the radius of curvature of the prime vertical, represents the geodetic height, 、 respectively represent the eastward and northward velocities.

[0142] The velocity update equation is:

[0143] (6)

[0144] In the formula, represents the specific force, corresponding to the observed value of the accelerometer, is the acceleration due to gravity.

[0145] The position update equation is:

[0146] (7)

[0147] Among them, represents the longitude, represents the vertical velocity component.

[0148] Based on the acquired angular velocity information and acceleration information, navigation parameters such as attitude, velocity, and position can be obtained using the above update equations. It should be noted that the vertical direction of inertial navigation is divergent. In scenarios where the altitude change is not significant, setting it to a fixed value is feasible, and only the horizontal direction will be considered subsequently.

[0149] S2: Determine the availability of the external reference position information based on the inertial navigation position information and the external reference position information, and obtain the external reference position information that meets the judgment conditions;

[0150] The vertical direction is set to a fixed value, and only the horizontal direction is concerned, including latitude and longitude. At the same time, the latitude and longitude of the external reference position information are obtained. The availability of the external reference latitude is judged based on the inertial navigation latitude in the inertial navigation position information and the external reference latitude in the external reference position information, and the available reference latitude is obtained:

[0151] Step 1: Obtain the differences based on the external reference latitudes and inertial navigation latitudes at two adjacent moments, including:

[0152] The difference between the external reference latitude and the inertial navigation latitude at moment is:

[0153] (8)

[0154] The difference between the external reference latitude and the inertial navigation latitude at moment is:

[0155] (9)

[0156] At moment and The difference between the external reference latitudes at moment is:

[0157] (10)

[0158] The difference between the inertial navigation latitude at moment and The external reference latitude at moment is:

[0159] (11)

[0160] Step 2: Judge the availability of the external reference latitude according to the judgment conditions. If any one of the judgment conditions is met, the reference latitude at the moment meets the availability requirements, and the available reference latitude is obtained; the judgment conditions include:

[0161] Condition 1:

[0162] and and

[0163] Condition 2:

[0164] and and

[0165] wherein, represents the reference latitude at time represents the inertial navigation latitude at time represents the difference between the reference latitude and the inertial navigation latitude at time represents the reference latitude at time represents the inertial navigation latitude at time represents the difference between the reference latitude and the inertial navigation latitude at time represents the difference between the reference latitudes at time and time represents the difference between the inertial navigation latitude at time and the reference latitude at time represents taking the absolute value.

[0166] The process of judging the availability of the external reference longitude and obtaining the available reference longitude is as follows:

[0167] Step 1: Obtain the differences based on the external reference longitude and the inertial navigation longitude at two adjacent times, including:

[0168] The difference between the external reference longitude and the inertial navigation longitude at time

[0169] is: (12)

[0170] The difference between the external reference longitude and the inertial navigation longitude at time

[0171] is: (13)

[0172] The difference between the external reference longitudes at time and time

[0173] is: (14)

[0174] The difference between the external reference longitudes at time The difference in inertial navigation longitude at a moment is:

[0175] (15)

[0176] Step 2: Judge the availability of the external reference longitude according to the judgment conditions. If any one of the judgment conditions is satisfied, the external reference longitude at the moment meets the availability requirements, and the available reference longitude is obtained; the judgment conditions include:

[0177] Condition 3:

[0178] and and

[0179] Condition 4:

[0180] and and

[0181] In the formula, represents the reference longitude at the moment, represents the inertial navigation longitude of the difference between the reference longitude and the inertial navigation longitude at the moment, represents the reference longitude at the moment, represents the inertial navigation longitude at the moment, represents the difference between the reference longitudes at the moment and moment, represents the difference between the inertial navigation longitudes at the

[0182] It should be noted that there is no constraint on the order of judgment for the available reference latitude and the available reference longitude here.

[0183] S3: Use the available external reference position information to correct the position of the inertial navigation system.

[0184] After S2, available external reference position information can already be obtained. Next, position correction is performed on the inertial navigation. Here, the reference position is directly assigned to the inertial navigation position. It should be noted that in S2, the available reference latitude and available reference longitude are judged separately, and during position correction, they are also judged separately, that is, it is judged whether the external reference latitude meets the requirements. If it meets, correction is performed; if not, this correction is skipped and the next judgment is entered to judge whether the external reference longitude meets the requirements. If it meets, correction is performed; if not, this correction is skipped and the next judgment is entered. There is no constraint on the order of correcting latitude and longitude. The flow chart is as Figure 2 shown.

[0185] The solution proposed in this application is verified through simulation experiments

[0186] In the static simulation experiment, the simulation duration is 5 days. The errors of the inertial navigation devices are shown in Table 1, and the initial errors are set as shown in Table 2. A random number between -400 and 400 is added to the real position as the external reference position, with the unit of meter. During the experiment, one external reference position information is obtained every 2 hours. At the same time, a label of 0 or 1 is randomly generated. 0 represents that the currently obtained external reference position information is unavailable, and 1 represents that the currently obtained external reference position information is available. This is more in line with the reality because in reality, it cannot be guaranteed that there will definitely be an available external reference position information every 2 hours. Further explanation is that within the 5-day simulation duration, theoretically 60 external reference position information can be obtained, and the corresponding labels are 1, indicating that the external reference position information is indeed obtained at the corresponding moments. By randomly setting a label of 0 or 1, the actual number of obtained external reference position information will be less than or equal to 60. On this basis, further comprehensive judgment is made on the external reference position information at the corresponding moments with the label of 1. If the judgment conditions are met, position correction is performed. In fact, this condition is relatively strict. Generally speaking, the positioning results given by common positioning systems such as satellite navigation positioning systems have a certain continuity. In the simulation experiment, the external reference position information is represented by the generated random numbers, which has obvious jumps, thus better demonstrating the effectiveness of the algorithm. At the same time, for a high-precision inertial navigation system, the error accumulation is limited in a short period of time, and correction is not required at this stage. Therefore, it is set to start correction after the 12th hour.

[0187] Table 1 Error settings of inertial navigation devices in simulation experiments

[0188]

[0189] Table 2 Initial error settings of inertial navigation in simulation experiments

[0190]

[0191] The results of the static simulation test are as Figures 3 to 5 shown, Figure 3 showing the latitude error, Figure 4 showing the longitude error, Figure 5 and showing the planar error. It can be seen from the figure that the positioning error of inertial navigation has been greatly suppressed, significantly improving the long-term autonomous navigation and positioning ability of inertial navigation. The solution proposed in this application is effective.

[0192] In the dynamic simulation test, the errors of the inertial devices are set the same as those in the static simulation test, as shown in Table 1, and the initial errors are the same as those in the static simulation test, as shown in Table 2. The carrier first moves north for 1 day, then moves along 30° east of north for 2 days, and finally moves along 60° east of north for 2 days. The results of the dynamic simulation test are as Figures 6 to 8 shown, Figure 6 showing the latitude error, Figure 7 showing the longitude error, Figure 8 and showing the planar error. The dynamic results are similar to the static results. After position correction, the long-term autonomous navigation and positioning ability of inertial navigation is significantly improved.

[0193] The static simulation test and the dynamic simulation test illustrate that the solution proposed in this application is effective.

[0194] Embodiment:

[0195] As Figure 9 shown, based on the same inventive concept as the above embodiment, the present invention further provides an inertial navigation position correction system assisted by position information, including:

[0196] An acquisition unit, configured to acquire external reference position information; acquire angular velocity information collected by a gyroscope in an inertial navigation system and acceleration information collected by an accelerometer; based on the angular velocity information and the acceleration information, perform inertial navigation update calculation on the inertial navigation system to obtain inertial navigation position information;

[0197] A judgment unit, configured to judge the availability of the external reference position information according to the inertial navigation position information and the external reference position information, and obtain the available external reference position information;

[0198] A correction unit, configured to perform position correction on the inertial navigation system by using the available external reference position information.

[0199] In some embodiments, in the judgment unit, judging the availability of the external reference position information according to the inertial navigation position information and the external reference position information, and obtaining the available external reference position information specifically includes:

[0200] Determine the inertial navigation latitude and inertial navigation longitude in the inertial navigation position information;

[0201] Determine the external reference latitude and external reference longitude in the external reference position information;

[0202] Judge the availability of the external reference latitude according to the inertial navigation latitude and the external reference latitude to obtain the available reference latitude;

[0203] Judge the availability of the external reference longitude according to the inertial navigation longitude and the external reference longitude to obtain the available reference longitude.

[0204] Embodiment:

[0205] As Figure 10 shown, the present invention also provides an electronic device 100 for implementing the inertial navigation position correction method assisted by position information;

[0206] The electronic device 100 includes a memory 101, at least one processor 102, a computer program 103 stored in the memory 101 and executable on the at least one processor 102, and at least one communication bus 104.

[0207] The memory 101 can be used to store the computer program 103. The processor 102 realizes the steps of the inertial navigation position correction method assisted by position information described in any one of the above by running or executing the computer program stored in the memory 101 and calling the data stored in the memory 101.

[0208] The memory 101 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the electronic device 100 (such as audio data, etc.). In addition, the memory 101 may include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0209] At least one processor 102 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 102 may be a microprocessor or the processor 102 may also be any conventional processor, etc. The processor 102 is the control center of the electronic device 100, and connects various parts of the entire electronic device 100 through various interfaces and lines.

[0210] The memory 101 in the electronic device 100 stores a plurality of instructions to implement a position correction method for inertial navigation assisted by position information. The processor 102 can execute the plurality of instructions to implement:

[0211] Obtain external reference position information; obtain angular velocity information collected by a gyroscope and acceleration information collected by an accelerometer in an inertial navigation system; based on the angular velocity information and the acceleration information, perform inertial navigation update calculation on the inertial navigation system to obtain inertial navigation position information;

[0212] Judge the availability of the external reference position information according to the inertial navigation position information and the external reference position information, and obtain the available external reference position information;

[0213] Use the available external reference position information to perform position correction on the inertial navigation system.

[0214] Embodiment:

[0215] If the integrated modules / units of the electronic device 100 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-described embodiment methods of the present invention, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, and read-only memory (ROM, Read-Only Memory).

[0216] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, system, or computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0217] The present invention is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate a device for implementing the specified function in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0218] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the specified function in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0219] ]These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions for implementing the functions specified in one process or a plurality of processes and / or blocks Figure 1 one process or a plurality of processes and / or blocks Figure 1 steps for implementing the functions specified in one block or a plurality of blocks.

[0220] In the description of the present specification, descriptions with reference to the terms "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0221] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific embodiments of the present invention, and any modifications or equivalent replacements without departing from the spirit and scope of the present invention should be covered by the protection scope of the claims of the present invention.

Claims

1. A position correction method for inertial navigation assisted by position information, characterized in that, Including: Obtain external reference position information; Obtain the angular velocity information collected by the gyroscope and the acceleration information collected by the accelerometer in the inertial navigation system; Based on the angular velocity information and the acceleration information, through inertial navigation update calculation of the inertial navigation system, obtain inertial navigation position information; Judge the availability of the external reference position information according to the inertial navigation position information and the external reference position information, and obtain the available external reference position information; Specifically: Determine the inertial navigation latitude and inertial navigation longitude in the inertial navigation position information; Determine the external reference latitude and external reference longitude in the external reference position information; Judge the availability of the external reference latitude according to the inertial navigation latitude and the external reference latitude, and obtain the available reference latitude; including: Calculation The difference between the external reference latitude and the inertial navigation latitude at a moment to obtain a first difference; calculate The difference between the external reference latitude and the inertial navigation latitude at a moment to obtain a second difference; calculate The external reference latitudes at a moment and at a moment to obtain a third difference; calculate The difference between the inertial navigation latitude at a moment and the external reference latitude at a moment to obtain a fourth difference; Judge the availability of the external reference latitude according to the first difference, the second difference, the third difference and the fourth difference, and obtain the available reference latitude; Judge the availability of the external reference longitude according to the inertial navigation longitude and the external reference longitude, and obtain the available reference longitude; including: Calculation The difference between the external reference longitude and the inertial navigation longitude at a moment to obtain a fifth difference; calculate The difference between the external reference longitude and the inertial navigation longitude at a moment to obtain a sixth difference; calculate At a moment and The difference between the external reference longitudes at a moment to obtain a seventh difference; calculate At a moment and The difference between the inertial navigation longitudes at a moment to obtain an eighth difference; Judge the availability of the external reference longitude according to the fifth difference, the sixth difference, the seventh difference and the eighth difference, and obtain the available reference longitude; Use the available external reference position information to correct the position of the inertial navigation system.

2. The method for inertial navigation position correction assisted by position information according to claim 1, characterized in that, In the step of obtaining inertial navigation position information by performing inertial navigation update calculation on the inertial navigation system based on the angular velocity information and the acceleration information, the inertial navigation update calculation includes position update, velocity update and attitude update of the object to be measured; the update equations are specifically as follows: The attitude update equation is: The velocity update equation is: The position update equation is: Where, Represents the coordinate transformation matrix from b system to n system; express The differential of yes The antisymmetric matrix of It represents the projection of the rotational angular velocity of the b system relative to the n system in the b system; is the observed value of the gyroscope, indicating Relative to The angular velocity of the system is Projection of the system; Represents the coordinate transformation matrix from n system to b system; It represents the projection of the rotational angular velocity of the n system relative to the i system in the n system; The angular velocity of the Earth's rotation is Projection of the system; express Relative to The angular velocity of the system is Projection of the system; represents the angular velocity of the Earth's rotation, Indicates latitude, represents the meridian curvature radius, represents the radius of curvature of the Maoyou circle, It means the earth is high. 、 represent eastward and northward velocities respectively; represents the specific force, corresponding to the observed value of the accelerometer, is the acceleration due to gravity; Indicates longitude, represents the celestial velocity component; express The speed of the tie; express The differential of express The differential of express The differential of express The differential of .

3. A position correction method for inertial navigation assisted by position information according to claim 1, characterized in that Judging the availability of the external reference latitude according to the first difference, the second difference, the third difference and the fourth difference includes: When any one of the first difference, the second difference, the third difference and the fourth difference satisfies condition 1 and condition 2, judge that the external reference latitude is available; where Condition 1: and and Condition 2: and and Wherein, represents the difference between the external reference latitude and the inertial navigation latitude at time represents the difference between the external reference latitude and the inertial navigation latitude at time represents the difference between the external reference latitudes at time and time represents the difference between the inertial navigation latitude at time and the reference latitude at time represents taking the absolute value.

4. A method for inertial navigation position correction assisted by position information according to claim 1, characterized in that Judging the availability of the external reference longitude according to the fifth difference, the sixth difference, the seventh difference and the eighth difference includes: When any one of the fifth difference, the sixth difference, the seventh difference and the eighth difference satisfies condition 3 and condition 4, judge that the external reference longitude is available; where Condition 3: and and Condition 4: and and In the formula, represents the difference between the external reference longitude and the inertial navigation longitude at time represents the difference between the external reference longitude and the inertial navigation longitude at time represents the difference between the external reference longitudes at time and time represents the difference between the inertial navigation longitudes at time and time represents taking the absolute value.

5. An inertial navigation position correction system assisted by position information, characterized in that Capable of implementing the inertial navigation position correction method described in any one of claims 1 to 4, including: An acquisition unit for acquiring external reference position information; acquiring the angular velocity information collected by the gyroscope and the acceleration information collected by the accelerometer in the inertial navigation system; and obtaining inertial navigation position information through inertial navigation update calculation of the inertial navigation system based on the angular velocity information and the acceleration information; A judgment unit for judging the availability of the external reference position information according to the inertial navigation position information and the external reference position information, and obtaining the available external reference position information; A correction unit for correcting the position of the inertial navigation system by using the available external reference position information.

6. An electronic device, characterized in that, Including a processor and a memory, the processor is used to execute the computer program stored in the memory to implement the inertial navigation position correction method based on position information assistance described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, it implements the position correction method for inertial navigation assisted by position information as described in any one of claims 1 to 4.

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