Navigation method and apparatus

• Main Authors: GAO NAN, WU HONGJIA, WANG CONGJIN, QIAN YI, ZHANG HONGYANG, WANG ZHILONG, ZHANG HONGLUN, NAN TENGFEI, WANG YUBAO, MA XINGYE
• Format: Patent
• Language: Chinese; English
• Published: 04.12.2018
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The invention discloses a navigation method and apparatus. The navigation method comprises the following steps: acquiring the installation angle of an inertial sensor in an inertial navigation system;and converting data in an inertial sensor coordinate system output by the inertial sensor into data in a carrier coordinate system according to the installation angle, and positioning a carrier according to the data in the carrier coordinate system. According to the invention, the data in the inertial sensor coordinate system output by the inertial sensor is converted into the data in the carriercoordinate system based on the installation angle of the inertial sensor, and then the positioning of the carrier is performed based on the data in the carrier coordinate system, so errors caused bythe installation angle are eliminated; and thus, navigation accuracy is improved. 本申请公开了种导航方法和装置，所述导航方法包括：获取惯性导航系统中惯性传感器的安装角；根据所述安装角将所述惯性传感器输出的惯性传感器坐标系下的数据转换成载体坐标系下的数据，根据所述载体坐标系下的数据进行载体的定位。本申请基于惯性传感器的安装角将所述惯性传感器输出的惯性传感器坐标系下的数据转