A satellite navigation and positioning optimization method and system based on inertial behavior

By combining inertial behavior recognition and online change point detection with incremental factor graph adaptive smoothing, the problem of sudden changes in motion state in complex environments of satellite navigation and positioning technology is solved, and high-precision and robust positioning optimization is achieved.

CN121934121BActive Publication Date: 2026-06-30BEIJING SHENDAOKEXUN SCI TECH DEV CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
BEIJING SHENDAOKEXUN SCI TECH DEV CO LTD
Filing Date
2026-03-30
Publication Date
2026-06-30

AI Technical Summary

Technical Problem

Existing satellite navigation and positioning technologies are difficult to adapt to the movement states with obvious behavioral characteristics such as pedestrians stopping and walking suddenly, turning around, going up and down stairs, and vehicles frequently starting and stopping and making sharp turns in complex environments. This leads to estimation lag, overshoot, or amplified errors. Furthermore, they lack adaptive adjustment to the reliability of satellite navigation observations, affecting positioning accuracy and robustness.

Method used

A method combining inertial behavior recognition, online change point detection, and incremental factor graph adaptive smoothing is adopted. By time-aligning inertial measurement data with satellite navigation observations, inertial behavior features are extracted and behavior categories and their confidence levels are identified. Online change point detection and behavior segmentation are performed, the process noise covariance of the inertial pre-integration factor is set, and the weights of satellite navigation observation factors and behavior constraint factors are adaptively adjusted. The incremental smoothing algorithm iSAM2 is used for optimized positioning.

Benefits of technology

It improves positioning accuracy and robustness in scenarios with sudden behavioral changes, enhances the real-time and continuous nature of positioning, and can automatically adjust the constraint strength when the motion state changes, thereby reducing estimation lag and error.

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Abstract

This invention belongs to the field of satellite navigation and positioning technology, and discloses a satellite navigation and positioning optimization method and system based on inertial behavior. The method includes: acquiring inertial measurement data and satellite navigation observations, performing time alignment and preprocessing to form a synchronous observation sequence; extracting inertial behavior features such as angular velocity, linear acceleration, and their rate of change, and performing behavior identification, outputting behavior categories and confidence levels; performing online change point detection based on the identification results, determining behavior switching change points, and dividing behavior segments; setting the process noise covariance of inertial pre-integration factors according to behavior segments in the factor graph, and adaptively adjusting the weights of satellite navigation observation factors and behavior constraint factors according to confidence levels, and controlling the activation and deactivation of behavior constraint factors according to behavior categories; and using the incremental smoothing algorithm iSAM2 to incrementally optimize and output the position of each epoch. This scheme can reduce estimation lag, overshoot, and error amplification in scenarios of sudden behavior changes, improving positioning accuracy and robustness.
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Citation Information

Patent Citations

  • Navigation method and device of GNSS / INS combined system

    CN114545472A

  • GNSS-INS (Global Navigation Satellite System-Inertial Navigation System) factor graph optimization method adopting forward tight combination

    CN116719071A