Astronomical / inertial integrated navigation astronomical satellite measurement correction position jump error processing method

Abstract

The invention discloses an astronomical / inertial integrated navigation astronomical satellite measurement correction position jump error processing method. The method comprises the following steps: calculating a k moment sky-guided comprehensive relative positioning error value; setting a threshold value of measurement error change before and after, and judging a value of a satellite measurement correction mark: if the sky-guided comprehensive relative positioning error value at the moment k is greater than or equal to the threshold value, the value of the satellite measurement correction mark is a first value, which indicates satellite measurement correction, otherwise, the value of the satellite measurement correction mark is a second value, which indicates no satellite measurement correction; if the value of the satellite measurement correction mark is a first value, calculating astronomical / inertial integrated navigation quantity measurement at the moment k, correcting an inertial navigation position by utilizing the quantity measurement, and then executing Kalman filtering time updating and measurement updating; and if the value is the second value, directly executing Kalman filtering time updating and measurement updating. According to the method, astronomical satellite measurement correction is identified, the inertial navigation position is corrected by using measurement, the rapid tracking of astronomical / inertial position integrated navigation on the measurement information of the astronomical navigation position is realized, and the filtering stability of the integrated navigation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of astronomical / inertial combined navigation, and in particular to a method for processing position jump errors in astronomical star measurement correction in astronomical / inertial combined navigation. Background Art

[0002] In the field of astronomical / inertial integrated navigation, a combined filtering solution based on Kalman filtering theory uses the position information of astronomical navigation equipment as a measurement quantity to achieve astronomical / inertial position integrated navigation. The measurement error of the position information output by the astronomical navigation equipment is discontinuous. During astronomical star measurement correction, the position error has a jumpy characteristic, which prevents the Kalman filter from quickly tracking the measurement changes, resulting in overshoot and oscillation of the filtered navigation information. Summary of the Invention

[0003] Aiming at the problem of position error jump of the guide antenna in astronomical / inertial position combined navigation, the present invention provides a method for processing the position jump error of astronomical star measurement correction in astronomical / inertial combined navigation, so as to realize the rapid tracking of the guide antenna position measurement information by astronomical / inertial position combined navigation and improve the stability of the combined navigation filter.

[0004] The first aspect of the present invention provides a method for processing position jump errors in astronomical star measurement correction using astronomical / inertial integrated navigation, the method comprising: calculate k The comprehensive relative positioning error value of the time-domain guide; Set the threshold value of the measurement error change before and after, and compare k The value of the star measurement correction mark is determined by the relative positioning error value of the sky guide at the moment and the threshold value of the change of the measurement error before and after: k If the integrated relative positioning error of the sky guide at the moment is greater than or equal to the threshold of the change in the measurement error before and after, the value of the star measurement correction flag is the first value, indicating star measurement correction; otherwise, the value of the star measurement correction flag is the second value, indicating no star measurement correction; If the star calibration flag is the first value, calculate k Measurement of astronomical / inertial combined navigation quantities at all times, and use k The astronomical / inertial combined navigation quantity is measured and corrected to the inertial navigation position at all times, and then the Kalman filter time update and measurement update are performed; If the value of the star measurement correction flag is the second value, the Kalman filter time update and the measurement update are directly executed.

[0005] In the above scheme, the calculation k The comprehensive relative positioning error value of the time-domain antenna guide includes: Get k The longitude and latitude of the sky guide at all times and k -1 The longitude and latitude position of the antenna at time based onk The longitude and latitude of the sky guide at all times and k -1 moment longitude and latitude position of the antenna, calculate k The relative longitude and latitude position difference of the satellite at that moment; based on k The relative longitude and latitude position difference of the sky guide at the moment and k Calculate the latitude position of the sky guide at the moment k The comprehensive relative positioning error value of the antenna guide at this moment.

[0006] In the above scheme, the calculation k The formula for the relative longitude and latitude position difference of the antenna guide at any moment is:

[0007]

[0008] Where, and They are k The relative longitude and latitude position difference of the satellite at that moment; and They are k The longitude and latitude position of the sky guide at any moment; and They are k -1 The longitude and latitude position of the antenna at time calculate k The formula for the comprehensive relative positioning error of the time-domain guide is:

[0009] Where, for k The comprehensive relative positioning error value of the antenna guide at this moment.

[0010] In the above scheme, the first value of the star measurement correction flag is 1, the second value of the star measurement correction flag is 0, and the threshold value of the change in the measurement error is 0.1 nautical mile.

[0011] In the above scheme, by comparing k The value of the star measurement correction flag is determined by combining the relative positioning error value of the time-domain guide and the threshold of the change in the measurement error before and after, as shown in the following formula:

[0012] Where, flag is the star measurement correction flag; 1 is the first value of the star measurement correction flag, indicating star measurement correction; 0 is the second value of the star measurement correction flag, indicating no star measurement correction; for k The comprehensive relative positioning error value of the time-domain guide, is the threshold of the change in measurement error before and after.

[0013] In the above scheme, the calculation k Real-time astronomical / inertial combined navigation measurement, including: Get k The longitude and latitude of the sky guide at all times and k Inertial navigation longitude and latitude position at the moment; based on k The longitude and latitude of the sky guide at all times and k Calculate the inertial navigation longitude and latitude position at the moment k Time astronomical / inertial combined navigation measurement.

[0014] In the above scheme, the calculation k The formula for measuring the astronomical / inertial combined navigation quantity at any moment is:

[0015] Where, for k Time astronomical / inertial combined navigation measurement, and They are k The longitude and latitude position of the sky guide at all times, and They are k Inertial navigation longitude and latitude position at the moment.

[0016] In the above scheme, using k The astronomical / inertial combined navigation quantity measurement and correction of inertial navigation position at all times includes: Get k Inertial navigation longitude and latitude position at the moment; based on k The inertial navigation longitude and latitude position at the moment and k Measure astronomical / inertial combined navigation quantities at all times and correct inertial navigation positions.

[0017] In the above scheme, the formula for correcting the inertial navigation position is:

[0018] Where, and After correction k Inertial navigation longitude and latitude position at the moment, and They are k Inertial navigation longitude and latitude position at the moment, for k Time astronomical / inertial combined navigation measurement.

[0019] According to a second aspect of the present invention, there is provided an astronomical / inertial combined navigation device, comprising a module or unit for executing the method for processing position jump errors in astronomical star measurement correction for astronomical / inertial combined navigation according to any one of the first aspects.

[0020] According to a third aspect of the present invention, there is provided a computer device comprising: a processor and a memory, the memory storing programs or instructions executable on the processor, wherein the programs or instructions, when executed by the processor, implement the steps of the method for processing position jump errors in astronomical / inertial combined navigation astronomical star measurement correction as described in any one of the first aspects.

[0021] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method for processing position jump errors of astronomical / inertial combined navigation astronomical star measurement correction described in any one of the first aspects are implemented.

[0022] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art: The present invention provides a method for processing position jump errors in astronomical star measurement corrections for astronomical / inertial combined navigation. Based on the discontinuous and jumpy nature of satellite position information during astronomical corrections, the method identifies astronomical star measurement corrections and directly corrects the inertial navigation position using filtered measurements at the time of correction. This method enables rapid tracking of satellite position measurement information by astronomical / inertial combined navigation. This method addresses the problem of non-Gaussian white noise error jumps in satellite position measurement information, which prevents the Kalman filter from rapidly tracking measurement changes and leads to overshoot and oscillation of the filtered navigation output. This method effectively improves the stability of combined navigation filtering and has engineering application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A flowchart of a method for processing position jump errors in astronomical star measurement correction using astronomical / inertial combined navigation provided in an embodiment of the present application; Figure 2 A schematic diagram of the effect of processing position jump errors in astronomical star measurement correction for an astronomical / inertial combined navigation system provided as an example in this application; Figure 3 A structural block diagram of an astronomical / inertial combined navigation device provided in an embodiment of the present application; Figure 4 A schematic diagram of the hardware structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments provided in this application, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of the present invention.

[0025] Obviously, the drawings described below are merely examples or embodiments of the present application. Those skilled in the art can, without inventive effort, apply the present application to other similar scenarios based on these drawings. Furthermore, it is also understood that, although the effort involved in such a development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, changes in design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as an insufficiency of the content disclosed in this application.

[0026] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it refer to independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described in this application may be combined with other embodiments unless there is a conflict.

[0027] Unless otherwise defined, the technical or scientific terms used in this application should have the ordinary meaning understood by a person of ordinary skill in the technical field to which this application belongs. The words "one", "a", "the" and the like used in this application do not indicate a limit on quantity and may indicate the singular or plural. The terms "include", "comprise", "have" and any variations thereof used in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units that are inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The word "multiple" used in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects before and after are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0028] The present application provides a method for processing position jump errors of astronomical star measurement correction during astronomical / inertial position combined navigation, thereby enabling rapid tracking of astronomical / inertial position combined navigation on the position measurement information of the guide antenna, and improving the stability of the combined navigation filter. The astronomical / inertial position combined navigation is based on Kalman filter theory, constructing system equations using the inertial navigation error equation, and using the position information of the guide antenna device as the measurement. The basic method of Kalman filter combined navigation can be found in the public literature and will not be described in this application. The present application mainly relates to the Kalman filter measurement information processing method and the measurement update execution logic.

[0029] like Figure 1 As shown, the method for processing position jump errors of astronomical / inertial position combined navigation astronomical star measurement correction in the present application includes the following steps: Step a) Astronomical star position correction and identification.

[0030] remember k The longitude and latitude of the sky guide at this moment are 、 .calculate k The longitude and latitude position of the sky guide at the moment k The relative longitude and latitude position difference at time -1: (1) (2) Where, and They are k The relative longitude and latitude position difference of the satellite at that moment; and They are k The longitude and latitude position of the sky guide at any moment; and They are k -1 The longitude and latitude position of the antenna at time calculate k The relative positioning error value of the time-domain guide for: (3) Where, for k The comprehensive relative positioning error value of the antenna guide at this moment.

[0031] Based on the fact that the position error of the sky guide is discontinuous and jumps during star measurement, the threshold value of the error change is measured before and after. Identify the correction of the satellite observation: (4) Where, flag It is the star measurement correction flag, 1 means star measurement correction, 0 means no star measurement correction.

[0032] Step b) Calculation of astronomical / inertial integrated navigation measurements.

[0033] remember k The longitude and latitude positions calculated by inertial navigation at the moment are and ,but k The moment-to-moment combined navigation measurement is: (5) Where, for k Time astronomical / inertial combined navigation measurement, and They are k The longitude and latitude position of the antenna at all times.

[0034] Step c) performing inertial navigation position correction based on the quantitative measurement and star measurement correction mark.

[0035] If the star measurement correction flag is 1, the inertial navigation position is directly corrected using the measurement: (6) After correction, Set to 0, and then perform Kalman filter time update and measurement update.

[0036] If the star measurement correction flag is 0, the Kalman filter time update and measurement update are directly executed.

[0037] Astronomy / Inertial combined navigation Astronomy star measurement correction position jump error processing effect is as follows Figure 2 As shown in the figure, when the error of the guide antenna position measurement information jumps, the astronomical / inertial combined navigation positioning error quickly tracks the change of the guide antenna position measurement. When there is no astronomical star measurement afterwards, the navigation information output by the combined filter has no overshoot oscillation, and the combined navigation filter is stable.

[0038] Based on the fact that the position information of the guide antenna is discontinuous and jumps during astronomical correction, this application identifies astronomical star corrections and directly corrects the inertial navigation position using the filtered value measured at the time of correction, thus achieving rapid tracking of the guide antenna position measurement information by astronomical / inertial position combined navigation. This method solves the problem that the error jumps in the guide antenna position measurement information are non-Gaussian white noise, which prevents the Kalman filter from quickly tracking the measurement changes and thus causes overshoot and oscillation of the navigation information output by the filter, effectively improving the stability of the combined navigation filter.

[0039] Specifically, the method for processing the position jump error of the astronomical / inertial position combined navigation astronomical star measurement correction in the embodiment of the present application completes the astronomical guide star measurement correction identification and the combined navigation measurement calculation according to steps a) and b) of the above technical solution; according to step c), the combined navigation realizes the rapid tracking of the astronomical guide position measurement information. The implementation flow chart is as follows: Figure 1 The specific steps are as follows: Step 1: Record k -1 moment longitude and latitude position information of the satellite 、 , update the current k Time-of-day longitude and latitude location information 、 , calculated according to formula (1) to formula (3) k The relative positioning error value of the time-domain guide .

[0040] Step 2: Set the threshold for the change in measurement error before and after = 0.1 nautical mile, and determine the star measurement mark according to formula (4) flag The value of Step 3: Get the current k Time inertial navigation longitude and latitude position and , calculate the current k Time-combined navigation measurement .

[0041] Step 4: If the star measurement correction flag is 1, measure the amount according to formula (6) Directly calibrate the inertial navigation position. If the star calibration flag is set to 0, the Kalman filter time update and measurement update are executed directly.

[0042] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0043] The present application also provides an astronomical / inertial position combined navigation device. These devices are used to implement the above embodiments and preferred implementations, and the details that have been described will not be repeated. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware or a combination of software and hardware is also possible and contemplated.

[0044] like Figure 3 As shown, the astronomical / inertial position integrated navigation device of an embodiment of the present application may include: a celestial guide star measurement correction identification unit 201, an integrated navigation quantity measurement and calculation unit 202, and an inertial navigation position correction unit 203. The celestial guide star measurement correction identification unit 201 is used to perform the celestial guide star measurement correction identification in step a), the integrated navigation quantity measurement and calculation unit 202 is used to perform the celestial / inertial integrated navigation quantity measurement and calculation in step b), and the inertial navigation position correction unit 203 is used to perform the inertial navigation position correction based on the quantity measurement and star measurement correction flag in step c), thereby realizing rapid tracking of celestial guide position measurement information by the integrated navigation.

[0045] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0046] In addition, combined Figure 1 The method for processing position jump errors in astronomical / inertial combined navigation astronomical star measurement correction according to the embodiment of the present application may be implemented by a computer device. Figure 4 Schematic diagram of the hardware structure of the computer device of the embodiment of the present application. Figure 4 As shown, the device may include a processor 301 and a memory 302 storing computer program instructions.

[0047] Specifically, the processor 301 may include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0048] Memory 302 may include a large-capacity memory for data or instructions. By way of example, and not limitation, memory 302 may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), flash memory, an optical disk, a magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 302 may include removable or non-removable (or fixed) media. Where appropriate, memory 302 may be internal or external to the data processing device. In certain embodiments, memory 302 is non-volatile memory. In certain embodiments, memory 302 includes read-only memory (ROM) and random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM) or a flash memory (FLASH), or a combination of two or more of these. Under appropriate circumstances, the RAM can be a static random access memory (SRAM) or a dynamic random access memory (DRAM), where the DRAM can be a fast page mode dynamic random access memory (FPMDRAM), an extended data out dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0049] The memory 302 may be used to store or cache various data files that need to be processed and / or used for communication, as well as possible computer program instructions executed by the processor 301 .

[0050] The processor 301 reads and executes computer program instructions stored in the memory 302 to implement any one of the methods for processing position jump errors in astronomical star measurement correction using astronomical / inertial combined navigation in the above embodiments.

[0051] In some embodiments, the astronomical / inertial position combined navigation device may further include a communication interface 303 and a bus 300. Figure 4 As shown, the processor 301 , the memory 302 , and the communication interface 303 are connected via a bus 300 and communicate with each other.

[0052] The communication interface 303 is used to implement communication between the various modules, devices, units, and / or devices in the embodiments of the present application. The communication interface 303 can also implement data communication with other components such as: external devices, image / data acquisition equipment, databases, external storage, and image / data processing workstations.

[0053] Bus 300 includes hardware, software, or both, and couples the components of the astronomical / inertial position combined navigation device. Bus 300 includes, but is not limited to, at least one of the following: a data bus, an address bus, a control bus, an expansion bus, and a local bus. By way of example, and not limitation, bus 300 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Bus 300 may include one or more buses, where appropriate. Although embodiments of the present application describe and illustrate a particular bus, this application contemplates any suitable bus or interconnect.

[0054] The computer device can execute the astronomical / inertial combined navigation astronomical star measurement correction position jump error processing method in the embodiment of the present application, thereby realizing the combination Figure 1 The present invention describes a method for processing position jump errors in astronomical star measurement correction for astronomical / inertial integrated navigation.

[0055] In addition, in conjunction with the method for processing position jump errors in astronomical / inertial combined navigation astronomical star measurement corrections in the above-mentioned embodiments, embodiments of the present application may provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when executed by a processor, the computer program instructions implement any of the methods for processing position jump errors in astronomical / inertial combined navigation astronomical star measurement corrections in the above-mentioned embodiments.

[0056] It should be noted that the various technical features of the above-described embodiments can be combined in any manner. To simplify the description, not all possible combinations of the various technical features in the above-described embodiments are described. However, as long as there are no contradictions in the combination of these technical features, they should be considered to be within the scope of this specification. In addition, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0057] Those skilled in the art will readily understand that the above-described embodiments merely represent several implementation methods of the present application, and their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of the invention. It should be noted that a person of ordinary skill in the art may make several variations and improvements without departing from the concept of the present application, and these variations and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be based on the appended claims.

Claims

1. A method for processing position jump errors in astronomical star measurement correction using astronomical / inertial integrated navigation, characterized in that: The method includes: calculate k The comprehensive relative positioning error value of the time-domain guide; Set the threshold value of the measurement error change before and after, and compare k The value of the star measurement correction mark is determined by the relative positioning error value of the sky guide at the moment and the threshold value of the change of the measurement error before and after: k If the integrated relative positioning error of the sky guide at the moment is greater than or equal to the threshold of the change in the measurement error before and after, the value of the star measurement correction flag is the first value, indicating star measurement correction; otherwise, the value of the star measurement correction flag is the second value, indicating no star measurement correction; If the star calibration flag is the first value, calculate k Measurement of astronomical / inertial combined navigation quantities at all times, and use k The astronomical / inertial combined navigation quantity is measured and corrected to the inertial navigation position at all times, and then the Kalman filter time update and measurement update are performed; If the value of the star measurement correction flag is the second value, the Kalman filter time update and the measurement update are directly executed.

2. The method for processing position jump errors in astronomical star measurement correction using astronomical / inertial integrated navigation according to claim 1, characterized in that: calculate k The comprehensive relative positioning error value of the time-domain antenna guide includes: Get k The longitude and latitude of the sky guide at all times and k -1 The longitude and latitude position of the antenna at time based on k The longitude and latitude of the sky guide at all times and k -1 moment longitude and latitude position of the antenna, calculate k The relative longitude and latitude position difference of the satellite at that moment; based on k The relative longitude and latitude position difference of the sky guide at the moment and k Calculate the latitude position of the sky guide at the moment k The comprehensive relative positioning error value of the antenna guide at this moment.

3. The method for processing position jump errors in astronomical star measurement correction using astronomical / inertial integrated navigation according to claim 2, characterized in that: calculate k The formula for the relative longitude and latitude position difference of the antenna guide at any moment is: Where, and They are k The relative longitude and latitude position difference of the satellite at that moment; and They are k The longitude and latitude position of the sky guide at any moment; and They are k -1 The longitude and latitude position of the antenna at time calculate k The formula for the comprehensive relative positioning error of the time-domain guide is: Where, for k The comprehensive relative positioning error value of the antenna guide at this moment.

4. The method for processing position jump errors in astronomical star measurement correction using astronomical / inertial integrated navigation according to claim 1, characterized in that: calculate k Real-time astronomical / inertial combined navigation measurement, including: Get k The longitude and latitude of the sky guide at all times and k Inertial navigation longitude and latitude position at the moment; based on k The longitude and latitude of the sky guide at all times and k Calculate the inertial navigation longitude and latitude position at the moment k Time astronomical / inertial combined navigation measurement.

5. The method for processing position jump errors in astronomical star measurement correction using astronomical / inertial integrated navigation according to claim 4, characterized in that: calculate k The formula for measuring the astronomical / inertial combined navigation quantity at any moment is: Where, for k Time astronomical / inertial combined navigation measurement, and They are k The longitude and latitude position of the sky guide at any moment, and They are k Inertial navigation longitude and latitude position at the moment.

6. The method for processing position jump errors in astronomical star measurement correction using astronomical / inertial integrated navigation according to claim 1, characterized in that: use k The astronomical / inertial combined navigation quantity measurement and correction of inertial navigation position at all times includes: Get k Inertial navigation longitude and latitude position at the moment; based on k The inertial navigation longitude and latitude position at the moment and k Measure astronomical / inertial combined navigation quantities at all times and correct inertial navigation positions.

7. The method for processing position jump errors in astronomical star measurement correction using astronomical / inertial integrated navigation according to claim 6, characterized in that: The formula for correcting the inertial navigation position is: Where, and After correction k Inertial navigation longitude and latitude position at the moment, and They are k Inertial navigation longitude and latitude position at the moment, for k Time astronomical / inertial combined navigation measurement.

8. An astronomical / inertial combined navigation device, characterized in that: The device comprises a module or unit for executing the method for processing position jump errors of astronomical / inertial integrated navigation astronomical star measurement correction according to any one of claims 1 to 7.

9. A computer device, characterized in that: include: A processor and a memory, the memory storing programs or instructions that can be run on the processor, which, when executed by the processor, implement the steps of the method for processing position jump errors in astronomical / inertial combined navigation astronomical star measurement correction as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that Programs or instructions are stored thereon, and when the programs or instructions are executed by the processor, the steps of the method for processing position jump errors of astronomical / inertial combined navigation astronomical star measurement correction described in any one of claims 1 to 7 are implemented.

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