Handheld RTK (Real-Time Kinematic) integrated navigation equipment and method

Abstract

The invention relates to a handheld RTK combined navigation device and method, and relates to the field of combined navigation, and the handheld RTK combined navigation device is provided with an RTK combined board card, a rod body and a rod tip; one end of the rod body is connected with the RTK combination board card, and the other end, away from the RTK combination board card, of the rod body is connected with the rod tip. Wherein a board card IMU (Inertial Measurement Unit) is fixed in the RTK combined board card; and a rod tip IMU is fixed in the rod tip. Compared with the prior art, due to the fact that the rod body and the RTK combined board card part are separable, the rod body can be connected and used as long as the RTK combined board card is provided with a corresponding interface, and expansion flexibility is achieved; meanwhile, a plurality of IMUs can be used as an IMU array by increasing the number of IMUs, the IMU observation redundancy is increased, and the measurement noise can be effectively reduced, so that the effective constraint frequency of the zero-speed constraint can be improved, the scene characteristics of the handheld RTK can be fully utilized, and the attitude calculation precision can be improved.

Description

Technical Field

[0001] This application relates to the field of integrated navigation technology, and in particular to a handheld RTK integrated navigation device and method. Background Technology

[0002] Handheld RTKs are typically equipped with low-precision, low-cost MEMS IMUs to estimate the real-time attitude of the RTK and provide the estimated attitude to higher-level applications, such as tilt measurement and laser long-distance measurement.

[0003] Utilizing motion patterns during handheld operation to constrain algorithm solutions is a common approach in handheld RTK integrated navigation algorithms. Zero-velocity constraint is the most prevalent method, using raw data from the IMU (Integrated Measurement Unit) on the RTK assembly board and the RTK position to statically determine the target. This approach has two problems: First, static determination is inaccurate. The raw MEMS data has significant noise, and the RTK position may also be inaccurate due to environmental interference; relying solely on these two factors is insufficient to accurately determine stationary motion. Second, its contribution to accuracy is limited. When MEMS and RTK position are sufficient to determine stationary motion, it often indicates that the system's estimated velocity is already close enough to zero velocity, meaning that using zero velocity as a measurement value to constrain the system has little effect. Summary of the Invention

[0004] Therefore, it is necessary to address the aforementioned technical problems of high noise in the raw data and limited contribution to accuracy by providing a handheld RTK integrated navigation device and method that can improve the effective constraint frequency of zero-velocity constraints, fully utilize the scene characteristics of handheld RTK, effectively reduce measurement noise, and improve attitude calculation accuracy.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: In a first aspect, a handheld RTK integrated navigation device is provided, the handheld RTK integrated navigation device being configured with an RTK combination board, a pole body and a pole tip; One end of the rod is connected to the RTK assembly board, and the other end of the rod away from the RTK assembly board is connected to the rod tip; The RTK combination board has a board IMU fixed inside; the pole tip has a pole tip IMU fixed inside.

[0006] Secondly, a handheld RTK integrated navigation method, using a handheld RTK integrated navigation device as described above, includes: The board IMU and the pole tip IMU are used to collect inertial measurement data respectively. Based on the inertial measurement data of the board IMU and the inertial measurement data of the pole tip IMU, the first inertial navigation system and the second inertial navigation system are used to perform IMU array calculation on the board IMU and the pole tip IMU respectively to obtain the attitude, position and velocity estimates of the board IMU and the attitude, position and velocity estimates of the pole tip IMU. The attitude, position, and velocity estimates of the board IMU are combined with the board zero-velocity constraint to obtain the corrected attitude, position, and velocity of the board IMU; The attitude, position, and velocity estimates of the stick tip IMU are subjected to stick tip zero-velocity constraints to obtain the corrected attitude, position, and velocity of the stick tip IMU; The attitude, position, and velocity of the modified board IMU are weighted and fused with the attitude, position, and velocity of the modified stick tip IMU through the first inertial navigation system and the second inertial navigation system to obtain the attitude, position, and velocity of the system.

[0007] Compared with the prior art, the beneficial effects of the technical solution of the present invention are: This invention adds additional observations without incurring excessive additional costs; placing the IMU at the pole tip allows for more direct and effective measurement of the pole tip state; since the pole body and RTK combination board are separable, the pole body can be connected and used as long as the RTK combination board has the corresponding interface, providing expansion flexibility; at the same time, increasing the number of IMUs allows multiple IMUs to be used as an IMU array, increasing IMU observation redundancy and effectively reducing measurement noise, thereby improving the effective constraint frequency of zero-velocity constraints, fully utilizing the scene characteristics of handheld RTK, and improving attitude calculation accuracy. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the structure of a handheld RTK integrated navigation device in some embodiments of this application; Figure 2 This is a flowchart illustrating a handheld RTK integrated navigation method in some embodiments of this application; Figure 3 This is a schematic diagram illustrating the IMU array calculation process in a handheld RTK integrated navigation method according to some embodiments of this application.

[0009] The labels for each of the attached figures are as follows: 101, RTK assembly board; 102, rod body; 103, rod tip. Detailed Implementation

[0010] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the description of embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of units is not necessarily limited to those units, but may include other units not explicitly listed or inherent to those processes, methods, products, or apparatuses. The term "determine" broadly covers a wide variety of actions, including acquiring, calculating, processing, deriving, investigating, searching (e.g., searching in a table, database, or other data structure), probing, and similar actions; it may also include receiving (e.g., receiving information), accessing (e.g., accessing data in memory), and similar actions; it may also include generating, creating, establishing, and similar actions; and parsing, selecting, choosing, and similar actions, etc. Definitions of other terms will be given in the following description.

[0011] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediary element. Furthermore, in the following embodiments, "connection" should be understood as "electrical connection," "communication connection," etc., if there is transmission of electrical signals or data between the connected objects.

[0012] It should be emphasized that the acquisition, transmission, storage, use, and processing of data in the technical solutions of this application all comply with the relevant provisions of national laws and regulations.

[0013] In the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, they do not mean that the applicant has used or necessarily used the solution.

[0014] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this patent. To better illustrate this embodiment, some parts in the accompanying drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It will be understood by those skilled in the art that certain well-known structures and their descriptions may be omitted in the accompanying drawings.

[0015] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0016] Example 1 This embodiment provides a handheld RTK integrated navigation device, see reference. Figure 1 The handheld RTK navigation device is equipped with an RTK combination board 101, a stick body 102, and a stick tip 103; One end of the rod 102 is connected to the RTK combination board 101, and the other end of the rod 102 away from the RTK combination board 101 is connected to the rod tip 103; The RTK combination board 101 has a board IMU fixed inside; the pole tip has a pole tip IMU fixed inside.

[0017] Compared to existing technologies, the above embodiments add additional observations without incurring excessive additional costs; placing an IMU at the pole tip 103 allows for more direct and effective measurement of the pole tip 103's state; simultaneously, increasing the number of IMUs allows multiple IMUs to be used as an IMU array, increasing IMU observation redundancy and effectively reducing measurement noise, thereby improving the effective constraint frequency of zero-velocity constraints, fully utilizing the scene characteristics of handheld RTK, and improving attitude calculation accuracy.

[0018] Example 2 This embodiment further provides a handheld RTK integrated navigation device based on embodiment 1. The handheld RTK integrated navigation device is configured with an RTK combination board 101, a stick body 102 and a stick tip 103. One end of the rod 102 is connected to the RTK combination board 101, and the other end of the rod 102 away from the RTK combination board 101 is connected to the rod tip 103; The RTK combination board 101 has a board IMU fixed inside; the rod tip 103 has a rod tip IMU fixed inside.

[0019] In this embodiment, the rod tip IMU installed on the rod tip 103 mainly refers to the MEMS IMU.

[0020] In some preferred embodiments, the relative orientation between the board IMU's board IMU data coordinate system and the pole tip IMU's pole tip IMU data coordinate system is determined during structural design.

[0021] In some preferred embodiments, the tip IMU and the RTK combination board 101 are hard time synchronized via PPS pulses.

[0022] In some preferred embodiments, the rod 102 and the RTK combination board 101 are detachable structures. The RTK combination board 101 is provided with an interface, and the rod 102 is connected to the RTK combination board 101 through the interface. By increasing the number of IMUs in the handheld RTK combined navigation device, an IMU array is formed and used.

[0023] In practical implementation, the motion constraint method is applicable to any device with a similar spatial distribution. Furthermore, since the rod 102 and the RTK combination board 101 are separable, the rod 102 can be connected and used as long as the RTK combination board 101 supports the corresponding interfaces, including power and data transmission lines, demonstrating good scalability.

[0024] Example 3 This embodiment further provides a handheld RTK integrated navigation method based on embodiment 2, see reference. Figure 2 ,include: The board IMU and the pole tip IMU are used to collect inertial measurement data, including angular velocity and acceleration. Based on the inertial measurement data of the board IMU and the inertial measurement data of the pole tip IMU, the first inertial navigation system and the second inertial navigation system are used to perform IMU array calculation on the board IMU and the pole tip IMU respectively to obtain the attitude, position and velocity estimates of the board IMU and the attitude, position and velocity estimates of the pole tip IMU. The attitude, position, and velocity estimates of the board IMU are combined with the board zero-velocity constraint to obtain the corrected attitude, position, and velocity of the board IMU; The attitude, position, and velocity estimates of the stick tip IMU are subjected to stick tip zero-velocity constraints to obtain the corrected attitude, position, and velocity of the stick tip IMU; The attitude, position, and velocity of the modified board IMU are weighted and fused with the attitude, position, and velocity of the modified stick tip IMU through the first inertial navigation system and the second inertial navigation system to obtain the attitude, position, and velocity of the system.

[0025] This method increases the number of IMUs, allowing multiple IMUs to be used as an IMU array. This increases IMU observation redundancy and effectively reduces measurement noise, thereby improving the effective constraint frequency of zero-velocity constraints, fully utilizing the scene characteristics of handheld RTK, and improving attitude calculation accuracy.

[0026] In some preferred embodiments, based on the inertial measurement data of the board IMU and the inertial measurement data of the pole-tip IMU, the IMU array is calculated by the first inertial navigation system and the second inertial navigation system respectively to obtain the attitude, position and velocity estimates of the board IMU and the attitude, position and velocity estimates of the pole-tip IMU. (See reference...) Figure 3 ,include: The board IMU and the pole tip IMU are mechanically programmed and time-updated using the first inertial navigation system and the second inertial navigation system, respectively. The measurements of the first and second inertial navigation systems are updated based on the RTK position, and the update method is shown in equation (1):

[0027] in, Indicates the board's IMU, Indicates the tip IMU; For the Measurement residuals The RTK location is obtained from a combination board or other means; For the The position obtained by mechanical arrangement For the The mechanical arrangement of the Earth's core solidified into Rotation matrix of the coordinate system; for That is, the antenna center relative to The coordinate center is located at The offset in the coordinate system is determined during structural design; For the Measurement residuals; For the The position obtained by mechanical arrangement For the The mechanical arrangement of the Earth's core solidified into Rotation matrix of the coordinate system; for That is, the antenna center relative to The coordinate center is located at The offset in the coordinate system is determined during structural design; After the measurement update is completed, the first inertial navigation system and the second inertial navigation system are quality checked. The check methods are shown in Equations (2), (3) and (4):

[0028] in, Indicated in the The reference angular velocity is below; Indicates the The obtained angular velocity after zero bias correction; This represents the rotation matrix from the board IMU data coordinate system to the rod tip IMU data coordinate system; Indicates the The obtained angular velocity after zero bias correction; Indicates the Zero bias; Indicates the Zero bias; Represented as Transpose of; Because the board IMU and the pole tip IMU are rigidly connected, After transformation by the above equation (2), the following is obtained: To determine whether the difference between the two is within the error operating range, the allowable error range is determined by the accuracy of the IMU device and the accuracy of the structure; When the difference between the two exceeds the limit, in conjunction with the above formula (1)... and stated Determine if the stated Greater than the Then it is considered that the above If an outlier occurs, the measurement of the first inertial navigation system is updated using the measurement equation represented by equation (3); otherwise, the measurement of the second inertial navigation system is updated using the measurement equation shown in equation (4).

[0029] In some preferred embodiments, the step of combining the attitude, position, and velocity estimates of the board IMU with board zero-velocity constraints to obtain the corrected attitude, position, and velocity of the board IMU includes: The measurement equations used for zero-velocity constraint are shown in equations (5), (6), and (7):

[0030] Wherein, when using equation (5) for the above When performing zero-velocity constraints, Indicates the The calculation speed Indicates the The speed error; when using equation (5) for the above When applying dynamic constraints, Indicates the The calculation speed Indicates the Speed ​​error; The symbol represents the antisymmetric matrix containing the vectors; for Measure angular velocity; This represents the Earth's rotation within the Earth-centric Earth-fixed system. This represents the relative distance between the origin of the pole tip IMU data coordinate system and the origin of the board IMU data coordinate system. Determined during structural design; For the The computational speed; For the Speed ​​error; This represents the relative distance between the origin of the board's IMU data coordinate system and the origin of the rod tip's IMU data coordinate system. Determined during structural design; For the Measure angular velocity; For the The computational speed; For the Speed ​​error; The RTK combination board (101) is determined to be at zero speed when two of the following three conditions are met simultaneously: (a) The above The mean value of the measured value after zero bias correction is less than a predetermined threshold during the judgment period, which is determined by the accuracy of the IMU device. (ii) Determine whether the change in RTK position within the time period is less than or equal to the RTK positioning accuracy level; (3) By The speed obtained The calculation speed is less than or equal to the predetermined threshold within the judgment period; When the combined board reaches zero speed, the measurement equation shown in equation (5) is used to measure the... Apply zero-velocity constraints; use the measurement equation shown in equation (6) to... Apply dynamic constraints to the rod tip.

[0031] In some preferred embodiments, the step of performing zero-velocity constraint on the attitude, position, and velocity estimation of the stick-tip IMU to obtain the corrected attitude, position, and velocity of the stick-tip IMU includes: The rod tip 103 is considered to be at zero speed when both of the following conditions are met: (a) The above The mean value of the measured value after zero bias correction is less than the predetermined threshold within the judgment period; (ii) by The speed obtained The calculation speed is less than or equal to the predetermined threshold within the judgment period; When the rod tip is at zero velocity, the measurement equation shown in equation (5) can also be used to measure the rod tip. Apply dynamic constraints and use the measurement equation shown in equation (7) to apply them to the measurement equation. Apply zero-velocity constraints.

[0032] In some preferred embodiments, the step of weightedly fusing the attitude, position, and velocity of the corrected board IMU with the attitude, position, and velocity of the corrected stick tip IMU through the first inertial navigation system and the second inertial navigation system to obtain the attitude, position, and velocity of the system includes: The attitude, position, and velocity of the system are output by a weighted fusion of the first inertial navigation system and the second inertial navigation system, as shown in equations (8), (9), and (10):

[0033]

[0034]

[0035] In equation (8), For system output location, For the Position accuracy factor, For the Position accuracy factor, for The calculation position, for The calculation location; In the aforementioned formula (9), For system output speed, For the Speed ​​accuracy factor, For the Speed ​​accuracy factor; In the aforementioned formula (10), The attitude quaternion output by the system. For the attitude accuracy factor For the attitude accuracy factor For the The calculation of attitude quaternions, For the The calculation of attitude quaternions, For the Quaternion representation, This represents spherical interpolation.

[0036] In some preferred embodiments, Kalman filtering is used to update the measurements of the first inertial navigation system and the second inertial navigation system.

[0037] It is understood that the method of this embodiment is applied to the device of the above embodiment 2, and the options in the above embodiment 2 are also applicable to this embodiment, so they will not be described again here.

[0038] The same or similar labels correspond to the same or similar parts; The terms used to describe positional relationships in the accompanying drawings are for illustrative purposes only and should not be construed as limiting this application. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0039] In different specific implementations, the methods or systems described in this application can be implemented in software, hardware, or a combination thereof. Furthermore, the order of the method steps can be changed, and various elements can be added, reordered, combined, omitted, or modified.

[0040] Obviously, the above embodiments of this application are merely examples for clearly illustrating this application, and are not intended to limit the implementation of this application, nor are they intended to limit this application. For those skilled in the art, other variations or modifications can be made based on the above description. The separate structural / functional modules or units can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part. The structure and function of the separate components can be implemented as a combined structure or component. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of the claims of this application.

Claims

1. A handheld RTK integrated navigation device, characterized in that, The handheld RTK integrated navigation device is equipped with an RTK integrated board (101), a pole body (102) and a pole tip (103). One end of the rod (102) is connected to the RTK combination board (101), and the other end of the rod (102) away from the RTK combination board (101) is connected to the rod tip (103). The RTK combination board (101) has a board IMU fixed inside; the pole tip (103) has a pole tip IMU fixed inside.

2. The handheld RTK integrated navigation device according to claim 1, characterized in that, The relative orientation between the board IMU's board IMU data coordinate system and the pole tip IMU's pole tip IMU data coordinate system is determined during structural design.

3. A handheld RTK integrated navigation device according to claim 2, characterized in that, The tip IMU and the RTK combination board (101) are hard time synchronized via PPS pulses.

4. A handheld RTK integrated navigation device according to any one of claims 1-3, characterized in that, The rod (102) and the RTK combination board (101) are detachable. The RTK combination board (101) is provided with an interface, and the rod (102) is connected to the RTK combination board (101) through the interface. By increasing the number of IMUs in the handheld RTK integrated navigation device, an IMU array is formed and used.

5. A handheld RTK integrated navigation method, characterized in that, An application of a handheld RTK integrated navigation device as described in any one of claims 1-4, comprising: The board IMU and the pole tip IMU are used to collect inertial measurement data respectively. Based on the inertial measurement data of the board IMU and the inertial measurement data of the pole tip IMU, the first inertial navigation system and the second inertial navigation system are used to perform IMU array calculation on the board IMU and the pole tip IMU respectively to obtain the attitude, position and velocity estimates of the board IMU and the attitude, position and velocity estimates of the pole tip IMU. The attitude, position, and velocity estimates of the board IMU are combined with the board zero-velocity constraint to obtain the corrected attitude, position, and velocity of the board IMU; The attitude, position, and velocity estimates of the stick tip IMU are subjected to stick tip zero-velocity constraints to obtain the corrected attitude, position, and velocity of the stick tip IMU; The attitude, position, and velocity of the modified board IMU are weighted and fused with the attitude, position, and velocity of the modified stick tip IMU through the first inertial navigation system and the second inertial navigation system to obtain the attitude, position, and velocity of the system.

6. A handheld RTK integrated navigation method according to claim 5, characterized in that, The step of using the inertial measurement data of the board IMU and the inertial measurement data of the pole tip IMU to perform IMU array calculations on the board IMU and the pole tip IMU through the first inertial navigation system and the second inertial navigation system respectively, to obtain the attitude, position and velocity estimates of the board IMU and the attitude, position and velocity estimates of the pole tip IMU, includes: The board IMU and the pole tip IMU are mechanically programmed and time-updated using the first inertial navigation system and the second inertial navigation system, respectively. The measurements of the first and second inertial navigation systems are updated based on the RTK position, and the update method is shown in equation (1): in, Indicates the board's IMU, Indicates the tip IMU; For the Measurement residuals The RTK location; For the The position obtained by mechanical arrangement For the The mechanical arrangement of the Earth's core solidified into Rotation matrix of the coordinate system; for That is, the antenna center relative to The coordinate center is located at The offset in the coordinate system is determined during structural design; For the Measurement residuals; For the The position obtained by mechanical arrangement For the The mechanical arrangement of the Earth's core solidified into Rotation matrix of the coordinate system; for That is, the antenna center relative to The coordinate center is located at The offset in the coordinate system is determined during structural design; After the measurement update is completed, the first inertial navigation system and the second inertial navigation system are quality checked. The check methods are shown in Equations (2), (3) and (4): in, Indicated in the The reference angular velocity is below; Indicates the The obtained angular velocity after zero bias correction; This represents the rotation matrix from the board IMU data coordinate system to the rod tip IMU data coordinate system; Indicates the The obtained angular velocity after zero bias correction; Indicates the Zero bias; Indicates the Zero bias; Represented as transpose; Because the board IMU and the pole tip IMU are rigidly connected, After transformation by the above equation (2), the following is obtained: To determine whether the difference between the two is within the error operating range, the allowable error range is determined by the accuracy of the IMU device and the accuracy of the structure; When the difference between the two exceeds the limit, in conjunction with the above formula (1)... and stated Determine if the stated Greater than the Then it is considered that the above If an outlier occurs, the measurement of the first inertial navigation system is updated using the measurement equation represented by equation (3); otherwise, the measurement of the second inertial navigation system is updated using the measurement equation shown in equation (4).

7. A handheld RTK integrated navigation method according to claim 6, characterized in that, The process of combining the attitude, position, and velocity estimates of the board's IMU with board zero-velocity constraints to obtain the corrected attitude, position, and velocity of the board's IMU includes: The measurement equations used for zero-velocity constraint are shown in equations (5), (6), and (7): Wherein, when using equation (5) for the above When performing zero-velocity constraints, Indicates the The calculation speed Indicates the The speed error; when using equation (5) for the above When applying dynamic constraints, Indicates the The calculation speed Indicates the Speed ​​error; The symbol represents the antisymmetric matrix containing the vectors; for Measure angular velocity; This represents the Earth's rotation within the Earth-centric Earth-fixed system. This represents the relative distance between the origin of the pole tip IMU data coordinate system and the origin of the board IMU data coordinate system. Determined during structural design; For the The computational speed; For the Speed ​​error; This represents the relative distance between the origin of the board's IMU data coordinate system and the origin of the rod tip's IMU data coordinate system. Determined during structural design; For the Measure angular velocity; For the The computational speed; For the Speed ​​error; The RTK combination board (101) is determined to be at zero speed when two of the following three conditions are met simultaneously: (a) The above The mean value of the measured value after zero bias correction is less than a predetermined threshold during the judgment period, which is determined by the accuracy of the IMU device. (ii) Determine whether the change in RTK position within the time period is less than or equal to the RTK positioning accuracy level; (3) By The speed obtained The calculation speed is less than or equal to the predetermined threshold within the judgment period; When the combined board reaches zero speed, the measurement equation shown in equation (5) is used to measure the... Apply zero-velocity constraints; use the measurement equation shown in equation (6) to... Apply dynamic constraints to the rod tip.

8. A handheld RTK integrated navigation method according to claim 7, characterized in that, The process of performing zero-velocity constraints on the attitude, position, and velocity estimation of the stick-tip IMU to obtain the corrected attitude, position, and velocity of the stick-tip IMU includes: The tip of the rod (103) is considered to be at zero speed when both of the following conditions are met: (a) The above The mean value of the measured value after zero bias correction is less than the predetermined threshold within the judgment period; (ii) by The speed obtained The calculation speed is less than or equal to the predetermined threshold within the judgment period; When the rod tip is at zero velocity, the measurement equation shown in equation (5) can also be used to measure the rod tip. Apply dynamic constraints and use the measurement equation shown in equation (7) to apply them to the measurement equation. Apply zero-velocity constraints.

9. A handheld RTK integrated navigation method according to claim 8, characterized in that, The step of weightedly fusing the attitude, position, and velocity of the corrected board IMU with the attitude, position, and velocity of the corrected stick tip IMU through the first inertial navigation system and the second inertial navigation system to obtain the attitude, position, and velocity of the system includes: The attitude, position, and velocity of the system are output by a weighted fusion of the first inertial navigation system and the second inertial navigation system, as shown in equations (8), (9), and (10): In equation (8), For system output location, For the Position accuracy factor, For the Position accuracy factor, for The calculation position, for The calculation location; In the aforementioned formula (9), For system output speed, For the Speed ​​accuracy factor, For the Speed ​​accuracy factor; In the aforementioned formula (10), The attitude quaternion output by the system. For the attitude accuracy factor For the attitude accuracy factor For the The calculation of attitude quaternions, For the The calculation of attitude quaternions, For the Quaternion representation, This represents spherical interpolation.

10. A handheld RTK integrated navigation method according to claim 6, characterized in that, Kalman filtering is used to update the measurements of the first and second inertial navigation systems.

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