810 results about "Carrier phase" patented technology

The invention relates to the technical field of inertial assistance, in particular to a Beidou high-precision space-time reference dynamic compensation system based on inertial assistance, which is characterized in that an inertial measurement unit module is used for measuring original measurement data, and the original measurement data comprises a carrier phase and a Doppler observation value; the processing unit module is used for fusing the inertial measurement unit, executing real-time environment perception and dynamic modeling, classifying an operation environment and predicting error characteristics; performing an adaptive robust fusion filtering algorithm that dynamically adjusts filter parameters and switches a filter model to estimate the position and attitude of the carrier; and in combination with radio wave precision single-point positioning enhancement service, super-tight combination signal tracking and integrity monitoring are realized, an estimated inertial assistance system state is fed back to a tracking loop of the multi-frequency Beidou receiving module, and real-time fault detection is performed on original measurement data.

The invention provides a dual-antenna attitude and orientation and robust self-adaption method based on integrated navigation, which comprises the following steps: combining an INS (inertial navigation system) and a dual-antenna GNSS (global navigation satellite system), and enabling the system to output continuous and stable high-precision carrier attitude information when a GNSS signal is interfered by using dual-antenna integrated navigation. According to the method, most of satellite end clock correction, ionosphere and troposphere errors and receiver end clock correction are eliminated by using double-antenna GNSS pseudo-range and carrier phase double difference, robust statistics are calculated through heading prediction residual vectors to obtain robust factors, an observation noise covariance matrix is expanded to reduce the influence of system noise and observation noise, and the system performance is improved. A Mahalanobis distance based on a prediction residual vector is introduced to detect whether a system is abnormal or not, a state prediction covariance matrix is adjusted through a self-adaptive factor, weight reduction of an abnormal INS dynamic model is achieved, and the stability and reliability of system attitude information are improved through a noise covariance self-adaptive control mechanism.

The invention relates to the technical field of high-precision positioning, in particular to an outdoor immersive text and travel hybrid positioning and dynamic rendering optimization method, and the method comprises the steps: obtaining a positioning signal of a mobile terminal in a target service area through a hybrid positioning model; the positioning signals comprise an ultra-wideband ranging signal, a visual inertial odometer signal, a real-time carrier phase difference signal and an inertial navigation signal; processing the positioning signal through a multi-layer signal processing filtering model to obtain coordinate data, and generating a space coordinate; constructing a user movement situation prediction model based on the space coordinates, generating a navigation prediction track and navigation confidence, and generating a preloading strategy; acquiring geographical environment parameters of the target service area, and integrating the space coordinates, the geographical environment parameters, the preloading strategy and the virtual object through a multi-dimensional virtual-real fusion model to generate an augmented reality space scene; and analyzing the user movement track data and the augmented reality space scene through a multi-modal driving model to generate interactive content.

The disclosure relates to a 5G or 6G communication system for supporting a higher data transmission rate. Specifically, the disclosure related to method and apparatus for measuring positioning reference signal in a wireless communication system. The method and apparatus for performing a receiver and a method and apparatus for performing a transmitter in a wireless communication system, as well as a transmitter device and a receiver device are provided herein. Wherein, a method performed by a receiver in a communication system, comprises: acquiring configuration information of a reference signal for positioning: performing a carrier phase-based positioning measurement based on the configuration information: and reporting and / or transmitting a result of the carrier phase-based positioning measurement.

The invention relates to a space-ground integrated Beidou high-precision positioning method applied to urban canyons, and belongs to the technical field of navigation positioning. The method comprises the following steps: deploying a pseudo satellite base station, calibrating coordinates of the base station through carrier phase difference, and monitoring the number of Beidou visible satellites; a master pseudo-satellite is determined, timestamps and ephemeris data are broadcasted to slave pseudo-satellites through Beidou short messages, and the slave pseudo-satellites are combined with bidirectional ranging data to correct a local clock to realize high-precision synchronization; receiving Beidou and pseudo-satellite signals by a user terminal, screening effective observation values through a shielding judgment mechanism, substituting the effective observation values into a non-difference observation equation in combination with pseudo-satellite reference difference data, and resolving a fusion result through an elastic coupling mode; and finally, multi-path interference is identified by using pseudo-satellite double antennas, and historical data is called to construct an error model to correct a fusion result. The space-ground integrated positioning of Beidou and pseudo satellites in an urban canyon scene is realized, the centimeter-level positioning precision is stably output, and the high-precision positioning requirements of urban traffic, surveying and mapping and the like are met.

The invention relates to the technical field of dam safety monitoring, in particular to a method and system for improving dam GNSS deformation monitoring precision through base station and observation station combined network adjustment. The method comprises the following steps: arranging base stations and monitoring points to form a GNSS monitoring network; gNSS original observation data are collected in real time and preprocessed; constructing a joint network adjustment model, and taking base station coordinates as constraints and monitoring point coordinates as to-be-estimated parameters; performing baseline resolving based on the double-difference carrier phase observed quantity to obtain a baseline vector and a covariance matrix thereof; carrying out overall adjustment on the baseline vector by adopting a robust estimation method, and solving an optimal coordinate estimated value and precision information of the monitoring point; carrying out deformation analysis on the basis of the adjusted coordinate time sequence, and extracting tendency, periodicity and abnormal deformation; and outputting a deformation monitoring result, and carrying out visual display and early warning. According to the method, the precision and reliability of dam deformation monitoring are effectively improved through combination of network adjustment and robust estimation.

The invention provides an unmanned aerial vehicle navigation decoy method and system based on multimode satellite signal counterfeiting. The method comprises the following steps: firstly, acquiring original signal parameters, covering signal time delay, carrier phase and signal intensity distribution, of multimode satellite signals in an unmanned aerial vehicle navigation link in a target area in real time; secondly, extracting spatio-temporal characteristics through signal time delay and carrier phase, and generating time domain synchronous forged navigation parameters in combination with signal strength dynamic change; dynamically adjusting the signal time delay correction and the carrier phase offset in the forged navigation parameters; meanwhile, dynamic compensation is carried out on the navigation message based on the three-dimensional coordinate increment, and a multimode forged navigation signal covering the receiving end of the unmanned aerial vehicle is generated; and finally, superposing the forged navigation signal and the original signal parameter to form a deceptive navigation track for inducing the unmanned aerial vehicle to deviate from the original route. According to the technical scheme provided by the invention, the multi-mode compatibility and concealment of navigation decoy of the unmanned aerial vehicle can be improved.

The invention belongs to the technical field of time service, and relates to a Beidou time service delay processing method and device based on PPP-B2b. The method comprises the following steps: acquiring a navigation signal of a current epoch to obtain an observation value, a broadcast ephemeris and precise point positioning service information; obtaining a precision satellite position and a precision satellite clock error according to the broadcast ephemeris and the precision single-point positioning service information; forecasting to obtain a forecast value; calculating a difference value between the forecast value and the observation value, when the difference value does not exceed a preset threshold value, establishing a satellite pseudo-range and carrier phase ionosphere-free combination observation equation, establishing an antenna position constraint virtual observation equation, and performing resolving according to the combination observation equation and the virtual observation equation to obtain a receiver clock error result; and correcting the pulse per second according to a clock error result of the receiver so as to carry out delay time service. According to the invention, accurate time service can be realized, interference and environmental influence are avoided, and the convergence speed is high.

In estimating a position of a vehicle utilizing a global navigation satellite system (GNSS), it is desirable to exclude outliner GNSS measurements due to navigation signals via non-light-of-sight paths from the GNSS to the vehicle, but it leads to a distorted satellite geometry distribution. Complementariness between low-lying visual landmarks and healthy but high-elevation satellite measurements is explored to improve the geometry constraint. Measurements of an inertial measurement unit, low-lying visual landmarks captured by a forward-looking camera onboard the vehicle, and healthy but high-elevation satellite measurements are tightly-coupled integrated via sliding window optimization of system states used in a factor graph. To improve estimation performance, good initial guesses of system states are important. As such, initial guesses of velocity set and position set inside a sliding window are estimated simultaneously based on data of Doppler measurement, double-differenced (DD) pseudorange measurement and DD carrier-phase measurement as obtained in GNSS measurements.

The invention relates to the technical field of wireless communication, and discloses a communication equipment command and dispatch system based on artificial intelligence, the system maps the state of communication equipment into a standardized carrier phase disturbance mode, and after the disturbance mode is adaptively adjusted in combination with channel noise perception and conflict arbitration logic, the communication equipment is commanded and dispatched. Controlling the radio frequency front end to carry out injection; the adjacent communication equipment directly detects the disturbance mode to trigger the cooperative scheduling action by monitoring the physical error signal of the carrier synchronization loop of the adjacent communication equipment, and the implicit cooperative mode based on the physical layer beacon is constructed, so that the complex high-level signaling interaction required by the traditional scheduling is avoided, and the scheduling efficiency is improved. According to the method, the millisecond level, determined by a software protocol, of the collaborative response time between the devices is substituted into the microsecond level determined by the hardware physical layer response entscheid, the system can still maintain reliable transmission of scheduling instructions when facing high-density concurrent conflicts and strong channel noise, and a technical implementation path is provided for ultra-low-delay and high-reliability communication.

Disclosed are techniques for wireless communication. In an aspect, a network node receives, from a network entity, a configuration for reporting carrier phase measurements of one or more reference signal resources spanning a plurality of subcarriers, wherein the configuration indicates one or more center frequencies to use for reporting the carrier phase measurements, obtains one or more carrier phase measurements of the one or more reference signal resources based on the one or more center frequencies, and reports, to the network entity, the one or more carrier phase measurements.

The invention discloses a positioning method and device based on fusion of single Beidou navigation and a high-precision RTK technology, a medium and equipment in the technical field of satellite positioning. The positioning method comprises the following steps: determining single Beidou navigation information generated by a target receiver based on a single Beidou positioning device; extracting a pseudo-range observation value and a carrier phase observation value of the B1 / B2 frequency point; extracting a satellite number, epoch time, an ionosphere delay coefficient and a troposphere delay coefficient; determining delay deviation correction data of the Beidou satellite signal; total delay deviation in the signal transmission process is measured, and whether delay deviation correction is carried out or not is judged based on the dynamic delay threshold value model and the total delay deviation in the signal transmission process; and fusing the pseudo-range observation value of the receiver and the delay deviation correction data of the Beidou satellite signal, executing double-difference carrier phase calculation, and outputting a centimeter-level positioning result. According to the method, various transmission errors can be effectively eliminated, the positioning precision is remarkably improved, and the positioning continuity and stability are ensured.

The invention relates to the technical field of high-frequency multichannel synchronous transmission, in particular to a time domain reflection compensation design method for high-frequency signal transmission loss, which comprises the following steps of: 1, responding to a synchronous trigger signal to generate an active reflection reference signal with a determined time domain position; 2, aligning time marks between channels through cross-correlation operation; 3, extracting a reflection feature template of the channel from the alignment signal, and recognizing and eliminating crosstalk components through convolution operation with an adjacent channel template; 4, constructing a time-varying transfer function model according to the amplitude envelope attenuation characteristic and the carrier phase jump characteristic of the reflection characteristic template; and 5, generating a compensation filter based on the time-varying transfer function model, and verifying the compensation effect through secondary reflection. Through cross-correlation operation, accurate alignment of multi-channel signal time scales is realized, the time delay difference between different transmission channels is overcome, signal synchronization of each channel is ensured, and the beam forming precision is improved.

The invention provides a downlink data transmission method, device and system for laser fiber power supply application, and the method comprises the steps: carrying out the differential coding of downlink data to be transmitted through a transmitting end, and obtaining a data bit sequence; mapping the data bit sequence into a modulation symbol sequence by adopting a single-carrier phase modulation mode; performing digital-to-analog conversion on the modulation symbol sequence to obtain an analog signal; and outputting downlink energy and downlink data through an energy optical fiber according to the analog signal. According to the invention, the signal frequency spectrum is moved to be far away from the direct current frequency through differential coding and single carrier phase modulation, so that the interference of direct current laser energy on signal detection is minimized, the signal-to-noise ratio is improved, the inter-symbol interference is reduced, and a receiving end is ensured to have enough signal-to-noise ratio to reliably detect data.

Disclosed are systems, apparatuses, processes, and computer-readable media for wireless communications, such as to measure a location of a user equipment (UE). A process may include transmitting, at the UE (305), a phase measurement capability of the UE to a network entity (310, 315, 320) for determining a position of the UE. The process may further include receiving, at the UE from the network entity, a phase measurement request for reporting phase measurements for one or more subcarriers received by the UE. The phase measurement request is based on the phase measurement capability of the UE. The process may further include transmitting a phase measurement report to the network entity based on the phase measurement request. The phase measurement report includes information associated with a measured phase of at least one subcarrier of the one or more subcarriers.

The GNSS signal is processed to estimate signal characteristics. Methods and apparatus are provided for processing GNSS signals received at a receiver. The method includes obtaining a sample of a GNSS signal. The samples include a carrier signal modulated by a spreading code. The method includes generating codeless samples based on the obtained samples. These codeless samples contain carrier signals, but spreading codes have been erased. The method may include storing a sequence of codeless samples, the sequence having an associated duration. Further, the method includes analyzing the sequence of codeless samples to estimate one or more signal characteristics over a duration of the sequence. The signal characteristic includes a carrier phase of the carrier signal.

A method and apparatus are provided for processing a GNSS signal received at a receiver. The method includes obtaining samples of the GNSS signal. The samples contain a carrier signal modulated by a spreading code. The method includes generating, based on the obtained samples, code-free samples. These code-free samples contain the carrier signal but the spreading code has been wiped off. The method may include storing a sequence of the code-free samples, the sequence having an associated duration. Additionally, the method comprises analysing the sequence of code-free samples to estimate one or more signal characteristics over the duration of the sequence. The signal characteristics include a carrier phase of the carrier signal.

The invention discloses a high-precision positioning method and system based on a multi-band single Beidou signal, and the method comprises the steps: receiving a multi-band signal from a single Beidou satellite, the multi-band signal comprises three bands B1I, B1C and B2a, extracting a pseudo-range measurement value and a carrier phase measurement value of the signal of each band, and calculating the pseudo-range measurement value and the carrier phase measurement value of the signal of each band according to the pseudo-range measurement value and the carrier phase measurement value; constructing an observation value model containing multi-path errors and ionosphere delay; performing wavelet transform decomposition on the multi-band observation value sequence to obtain signal characteristics on different frequency scales, and constructing a multi-path-ionosphere coupling separation discriminator using pseudo-range and carrier phase observation value characteristic difference and a frequency dependency relationship based on a wavelet decomposition result; the error dominant type is determined according to the size of the discriminant value output by the separation discriminator, the observation value is corrected by applying a corresponding error correction strategy, the corrected observation value is used for position calculation, and a high-precision positioning result is obtained.

The invention discloses a Beidou satellite intelligent positioning and communication method and system based on artificial intelligence. The method comprises the following steps: S1, receiving a satellite signal and a cooperative signal; s2, processing the received satellite signal by using a pseudo-range measurement and carrier phase difference technology, and performing preliminary positioning calculation in combination with the cooperative positioning data; s3, fusion is carried out, and a multi-modal data set is constructed; s4, dynamically adjusting weights of different data sources in the multi-modal data set according to real-time environment change by utilizing a dynamic environment perception model based on a graph neural network; s5, processing the multi-modal data set by adopting a self-adaptive Monte Carlo variational inference algorithm, and optimizing the positioning precision; s6, adjusting a filtering parameter and a signal processing strategy in real time through a self-adaptive signal processing module; and S7, dynamically optimizing the communication frequency and path by using a dominant actor-commentator algorithm. According to the invention, multi-modal data fusion and a dynamic optimization algorithm are utilized, so that the precision and stability of Beidou satellite positioning and communication are remarkably improved.

The invention discloses a high-precision Beidou satellite navigation and positioning data acquisition method and system, particularly relates to the technical field of satellite navigation and positioning processing, and is used for solving the problem of positioning error increase caused by receiver hardware delay drift in the prior art. Inverting the first dynamic reference value by using carrier phase integral displacement, and extracting a third-order intermodulation component through coherent demodulation to generate a second dynamic reference value; adopting mutual information entropy analysis to select an effective reference value to calculate a residual error; fitting a theoretical value according to the carrier phase change rate to calculate deviation; marking a hardware drift error when the time domain correlation continuously exceeds a threshold value; finally, the ionosphere residual error is dynamically compensated to generate a corrected observation value, effective separation of the hardware drift error and the ionosphere residual error is realized, and the precision and reliability of long-time observation in a dynamic environment are improved.

The invention discloses a three-dimensional dynamic safety management and control method and system for power transmission and transformation hoisting operation, and relates to the technical field of construction safety, and the method comprises the steps: obtaining point cloud data of a target operation area through ground three-dimensional laser scanning; according to the point cloud data, a three-dimensional grid model is constructed through an oblique photography technology and a Beidou real-time dynamic carrier phase difference technology, and a semantic electronic fence is generated; according to a pure vision technology, through target detection, three-dimensional reconstruction and time sequence tracking, a hanging object 4D digital branch is constructed, and a hanging object prediction track is obtained; the shortest three-dimensional distance is calculated through an efficient collision detection algorithm according to the hanging object prediction track and the semantic electronic fence, multi-dimensional risk assessment is carried out, and graded early warning signals are generated; and carrying out comprehensive alarm prompting according to the graded early warning signal. According to the invention, a traditional passive protection mode depending on single threshold alarm is changed, and quantitative evaluation and predictive management and control of dynamic risks are realized.

In accordance with example embodiments of the invention there is at least a method and apparatus to perform receiving and / or transmitting a request to perform frequency hopping and report a carrier phase measurement with a central frequency of a combined frequency hop; initiating a frequency hopping to perform at least one carrier phase measurement from downlink positioning reference signals in a communication network, comprising performing the at least one carrier phase measurement for at least one of selected or used frequency hops; performing at least one carrier phase measurement for at least one of selected or used frequency hops; reporting to a network node a a central frequency of the combined frequency hop from the at least one of selected or used frequency hops and the at least one carrier phase measurement.

The invention discloses a low-altitude aircraft airway meteorological data acquisition and processing method, and relates to the technical field of airway meteorological data acquisition, and the method comprises the following steps: obtaining a carrier phase observation value of a target satellite from a GNSS receiver, recording a corresponding timestamp, and carrying out the original turnover ambiguity resolution of the obtained carrier phase observation value; carrying out first-order differential processing on carrier phase observation values of the same satellite at two continuous time points, and constructing an instantaneous carrier phase variation sequence reflecting the phase change rate; according to the invention, through carrier phase disturbance feature extraction and deep learning multipath risk prediction, dynamic weight adjustment of multipath interference satellites is realized, the system anti-interference capability and the data processing robustness are improved, the space mismatching and meteorological misjudgment risks are significantly reduced, and the positioning precision and the track sensing reliability in a complex environment are guaranteed.

The invention discloses a BDS-based three-dimensional coordinate accurate positioning monitoring method and system, and belongs to the technical field of satellite navigation and positioning, and the method specifically comprises the steps: calculating a pseudo-range measurement value and a carrier phase observation value through receiving a navigation satellite signal; eliminating a multi-path effect by adopting a multi-path detection algorithm and a dynamic multi-path error model, and correcting a pseudo-range measurement value by utilizing an error source model; dynamic calibration parameters are calculated by combining real-time environment data and a preset calibration model, and the pseudo-range measurement value is recorrected; calculating the position by using a carrier phase difference algorithm, and outputting a three-dimensional coordinate and a displacement variation; according to the method, high-precision and real-time displacement monitoring is realized through comprehensive processing of a multi-path effect and dynamic calibration.

Techniques are provided that may be implemented in a vehicle using various methods and / or devices to determine a location relative to a roadside unit (RSU) or other nearby reference point. A vehicle within a pre-specified range or within a broadcast distance or otherwise geographically adjacent to a roadside unit may share carrier GNSS phase measurement data by using broadcasts or other messages sent by the vehicle and / or the RSU, wherein the shared GNSS carrier phase measurement data may be used by the RSU to control and coordinate vehicle movement, speed, and / or positioning, and / or to determine the position of each vehicle relative to the RSU and / or other vehicles, or to determine the absolute position of each vehicle. The RSU may coordinate vehicle entry into the intersection, manage vehicle speed, and coordinate or control vehicle actions (such as decelerating, braking, and lane changing, or delivering vehicles to specific locations).

The invention discloses a carrier tracking method suitable for a multi-bit spread spectrum signal, and relates to the technical field of multi-bit spread spectrum, the carrier tracking method comprises the steps of coarse frequency offset correction, multi-bit spread spectrum, average phase estimation and delay phase correction.The carrier tracking method comprises the steps that firstly, a sliding DFT algorithm is adopted to estimate frequency offset, and a coarse frequency offset available correction signal is obtained; secondly, adaptively selecting the number of available windows according to historical data corresponding to the current signal-to-noise ratio; the method comprises the following steps: firstly obtaining a window intermediate point spread spectrum period, then extracting a carrier phase estimation value of the window intermediate point spread spectrum period, finally delaying a correlation value by the spread spectrum period to realize time sequence alignment and eliminate phase deviation, and finally obtaining information bits corresponding to each spread spectrum period by extracting and correcting a real part of the correlation value, matching a local sequence number and mapping. According to the method, the phase estimation precision under the low signal-to-noise ratio can be improved, parameter self-adaption to high and low dynamic scenes of a satellite is realized, the coherent judgment performance is improved, and the hardware complexity is reduced.

The invention discloses a multi-frequency omnidirectional unmanned aerial vehicle active defense system and method, and the method comprises the steps: obtaining defense region parameters, and constructing a navigation signal generation task library based on the coverage requirements of GPSL1 and Beidou B1 / B2 / B3 frequency bands; resonance interference points are determined through carrier locking resonance analysis, Doppler frequency shift traps are designed, frequency shift fragility features are extracted in combination with C / A code recombination processing, and a targeted interference enhancement domain is constructed; the method comprises the following steps: respectively carrying out constellation topology reconstruction on a GPS (Global Positioning System) and a Beidou system, generating false orbit parameters through ephemeris data tampering, and forming a mixed defense signal domain by utilizing carrier phase interleaving processing; analyzing signal power to determine strong and weak interference areas, and setting graded attenuation parameters to construct a graded signal attenuation field; the attenuation field and the interference enhancement domain are fused to generate dynamic simulation parameters, false orbit parameters are adjusted in real time to generate a coordinate input mode, a high-dynamic navigation signal is reconstructed, a satellite working mode is selected, an L1 / B1 / B2 / B3 multi-band radio frequency output instruction is finally generated, and all-dimensional intelligent deception jamming of the unmanned aerial vehicle navigation system is achieved.

The invention discloses an ionospheric scintillation monitoring method based on a geodetic measurement receiver, which belongs to the technical field of satellite navigation, and comprises the following steps of: accurately eliminating non-scintillation errors by constructing an inter-station single-difference function model and an inter-station single-difference random model, extracting carrier phase residual errors by using a single epoch ambiguity fixing technology, and finally obtaining an ionospheric scintillation monitoring result. Establishing a reliable ionospheric scintillation monitoring index; according to the ionospheric scintillation monitoring method based on the geodetic measurement type receiver, high-precision real-time monitoring of ionospheric scintillation can be realized through a single-epoch ambiguity fixing technology under the condition of not depending on an external precision product, and reliable technical support is provided for space weather monitoring.

The invention relates to the technical field of satellite navigation and intelligent positioning, and discloses an indoor positioning method and system based on Beidou double-frequency signals, and the method comprises the steps: receiving Beidou B1I and B1C double-frequency signals through adaptive signal enhancement and preprocessing; the double-frequency differential carrier phase extraction technology is adopted to form ionosphere-independent combined observed quantity, and ionosphere delay errors are eliminated. Multipath interference is identified and suppressed through a multipath suppression method based on statistical characteristics, and an extended Kalman filtering algorithm is adopted to fuse Beidou double-frequency observed quantity and IMU inertial data to realize multi-sensor information fusion positioning; according to the method, a soft constraint condition is established by utilizing geometric features of a building to optimize a positioning result, a multi-dimensional precision evaluation model is established to predict the positioning precision, and the result is adaptively output, so that sub-meter positioning precision and millisecond response time can be realized in a complex indoor environment, and an effective solution is provided for an indoor positioning technology.

The invention discloses an adaptive filtering Beidou navigation and inertial navigation positioning and attitude determination method and device, and the method comprises the steps: constructing a short-baseline carrier phase and pseudo-range double-difference observation equation through BDS satellite second pulse signals received by a first BDS receiver and a second BDS receiver, and solving the short-baseline carrier phase and pseudo-range double-difference observation equation to obtain the positioning information of a carrier where a second antenna is located; assigning the positioning information of the carrier to the inertial navigation system as an initial positioning value, carrying out positioning and attitude determination on the carrier through the inertial navigation system based on the initial positioning value, and outputting the latest positioning and attitude determination information of the carrier; carrying out Kalman filtering processing on the positioning information of the carrier and the latest positioning and attitude determination information of the carrier, and outputting the optimal attitude and positioning information of the carrier; the Kalman filtering is used for adaptively adjusting noise by using a carrier state vector through innovation analysis; the state vector is constructed by using the positioning information of the carrier and the latest positioning and attitude determination information of the carrier. The problem of error accumulation in the navigation process can be effectively solved, and the positioning precision is improved.