Elastic embedded GNSS/inertial integrated navigation system and method

• Main Authors: ZHANG MENGJUN, CHENG YU, CHEN SHUAI, WANG BOHAO, ZHOU XING, MA YONGBEN, BAI ZHENGHAO, ZHAO HAIFEI
• Format: Patent
• Language: Chinese; English
• Published: 03.08.2021
• 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 an elastic embedded GNSS/inertial integrated navigation system and method. The system comprises a data fusion unit, a micro inertial measurement unit, a Beidou deep coupling module, an exogenous sensor interaction unit and a power supply module. The method comprises the following steps of: the micro inertial measurement unit provides position, speed, acceleration and attitude information of a carrier after performing calculation, and the Beidou deep coupling module provides the position and speed of a satellite through ephemeris information; the positions and the speeds of the carrier and satellite are subjected to comparative calculation, so that the Doppler frequency shift and change rate can be obtained so as to assist the Beidou deep coupling module to capture and track the satellite; carrier position and speed error information obtained by the Beidou deep coupling module is fed back to the data fusion unit to correct the system IMU, and final navigation information is obtained; an