A barometer-assisted urban environment GNSS / INS positioning quality control method and system

By introducing a barometer into the GNSS/INS system, anomaly detection and error correction of GNSS observation data are achieved, solving the accuracy and reliability problems of the GNSS/INS fusion positioning system in urban environments and improving the stability and reliability of positioning.

CN122131357APending Publication Date: 2026-06-02自然资源部大地测量数据处理中心
View PDF 0 Cites 0 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
自然资源部大地测量数据处理中心
Filing Date
2026-04-28
Publication Date
2026-06-02

AI Technical Summary

Technical Problem

In complex urban environments, the positioning accuracy and reliability of GNSS/INS fusion positioning systems are affected by factors such as urban building obstruction and electromagnetic interference, leading to GNSS signal degradation or interruption and INS drift error accumulation, making it difficult to achieve high-precision and stable positioning.

Method used

By introducing a barometer as an independent elevation measurement system, outliers and cycle slips are detected by comparing GNSS observation data with barometer elevation changes. A GNSS/INS/barometer fusion observation model is constructed, and multi-dimensional quality control is performed using error state extended Kalman filtering, providing independent elevation constraints and sensor error correction.

Benefits of technology

It significantly improves the positioning stability and reliability of the GNSS/INS fusion system in urban environments, suppresses error accumulation, and ensures continuous and robust navigation in scenarios where GNSS signals degrade or are interrupted, meeting the high-precision positioning requirements of autonomous driving and drone inspection.

✦ Generated by Eureka AI based on patent content.

Smart Images

  • Figure CN122131357A_ABST
    Figure CN122131357A_ABST
Patent Text Reader

Abstract

This invention provides a barometer-assisted GNSS / INS positioning quality control method and system for urban environments. By constructing a joint altitude reference benchmark for INS and barometers, the strong coupling dependency between GNSS and INS is broken. A multi-level closed-loop quality control mechanism is used to identify and suppress anomalies in raw GNSS observations, ambiguity resolution, and the final positioning results. Sensor error correction maintains the long-term stability of the auxiliary source. Precisely embedding barometer vertical constraints within a loosely coupled framework significantly enhances the observability of the altitude direction. Even in scenarios with severely degraded GNSS signals, such as urban canyons, under overpasses, and tunnel entrances / exits, this invention can still provide continuous and robust lane-level navigation results, meeting the stringent application requirements for high-reliability and high-precision positioning in autonomous vehicles, intelligent connected terminals, and UAV inspection platforms.
Need to check novelty before this filing date? Find Prior Art