GNSS RTK and INS tight integration positioning navigation method, device and system

• Main Authors: ZHUANG YUAN, CHEN SHAOHUA, SUN XIAO
• Format: Patent
• Language: Chinese; English
• Published: 30.08.2022
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention discloses a GNSS RTK and INS tight integration positioning navigation method, device and system. The method comprises the following steps: adopting a multi-frequency multi-system RTK (Real Time Kinematic), selecting a reference satellite and carrying out double-difference processing to obtain a double-difference observation value; calculating a predicted double-difference distance according to a measured value of an inertial measurement unit (IMU); and updating the Kalman filter according to the double-difference observation value, the ambiguity, the ionosphere delay parameter, the troposphere delay parameter and the predicted double-difference distance to obtain the current positioning navigation information of the mobile terminal. According to the method, the ionosphere parameters and the troposphere parameters are introduced into the tight combination Kalman filtering state quantity, so that the influence of the ionosphere and the troposphere on the RTK when a long baseline or the ionosphere