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1. WO2021027621 - NAVIGATION METHOD, APPARATUS DEVICE, ELECTRONIC DEVICE, AND STORAGE MEDIUM

Publication Number WO/2021/027621
Publication Date 18.02.2021
International Application No. PCT/CN2020/106747
International Filing Date 04.08.2020
IPC
G01S 19/47 2010.01
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
39the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS , GLONASS or GALILEO
42Determining position
45by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
47the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
G01C 21/16 2006.01
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
10by using measurement of speed or acceleration
12executed aboard the object being navigated; Dead reckoning
16by integrating acceleration or speed, i.e. inertial navigation
Applicants
  • OPPO广东移动通信有限公司 GUANGDONG OPPO MOBILE TELECOMMUNICATIONS CORP., LTD. [CN]/[CN]
Inventors
  • 李志杰 LI, Zhijie
Agents
  • 深圳翼盛智成知识产权事务所(普通合伙) ESSEN PATENT & TRADEMARK AGENCY
Priority Data
201910749943.714.08.2019CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) NAVIGATION METHOD, APPARATUS DEVICE, ELECTRONIC DEVICE, AND STORAGE MEDIUM
(FR) PROCÉDÉ DE NAVIGATION, APPAREIL, DISPOSITIF ÉLECTRONIQUE ET SUPPORT DE STOCKAGE
(ZH) 导航方法、装置设备、电子设备及存储介质
Abstract
(EN)
A navigation method, a navigation apparatus, an electronic device, and a storage medium. The navigation method comprises: obtaining measured values of a pseudo range and a pseudo range rate of a global positioning system (101); obtaining predicted values of a pseudo range and a pseudo range rate of an inertial navigation system at the same moment as the global positioning system (102); calculating measurement information of a combined positioning system of the global positioning system and the inertial navigation system according to the measured values of the pseudo range and the pseudo range rate and the predicted values of the pseudo range and the pseudo range rate (103); and eliminating a time synchronization error between the inertial navigation system and the global positioning system according to the measurement information to correct positioning of the combined positioning system of the global positioning system and the inertial navigation system (104). Navigation precision and positioning speed are improved.
(FR)
L'invention concerne un procédé de navigation, un appareil de navigation, un dispositif électronique et un support de stockage. Le procédé de navigation comprend les étapes consistant à : obtenir des valeurs mesurées d'une pseudo-distance et d'une pseudo-variation de distance d'un système GPS (101) ; obtenir des valeurs prédites d'une pseudo-distance et d'une pseudo-variation de distance d'un système de navigation inertielle au même moment que pour le système GPS (102) ; calculer des informations de mesure d'un système de positionnement combiné associant le système GPS et le système de navigation inertielle en fonction des valeurs mesurées de la pseudo-distance et de la pseudo-variation de distance et des valeurs prédites de la pseudo-distance et de la pseudo-variation de distance (103) ; et éliminer une erreur de synchronisation temporelle entre le système de navigation inertielle et le système GPS conformément aux informations de mesure afin de corriger le positionnement du système de positionnement combiné associant le système GPS et le système de navigation inertielle (104). La précision de navigation et la vitesse de positionnement sont améliorées.
(ZH)
一种导航方法、导航装置、电子设备及存储介质,其中导航方法包括:获取全球定位系统的伪距和伪距率的测量值(101),获取与全球定位系统同时刻的惯性导航系统的伪距和伪距率的预测值(102),根据伪距和伪距率的测量值以及伪距和伪距率的预测值计算全球定位系统和惯性导航系统组合定位系统的测量信息(103),根据测量信息对惯性导航系统与全球定位系统的时间同步误差进行消除,以校正全球定位系统和惯性导航系统组合定位系统的定位(104)。提升了导航的精度及定位速度。
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