The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 25, 2024
Filed:
Oct. 27, 2023
Shandong University of Science and Technology, Qingdao, CN;
SHANDONG UNIVERSITY OF SCIENCE AND TECHNOLOGY, Qingdao, CN;
Abstract
The present disclosure relates to the field of GNSS and INS integrated navigation technology, and specifically discloses a GNSS and INS integrated navigation positioning method and a system thereof. To addresses the technical problem of positioning error divergence in integrated navigation systems caused by insufficient satellite visibility or strong multipath effects in GNSS denial environments, a method combining motion constraint algorithm and neural network algorithm is proposed for robustness by the present disclosure. The motion constraint algorithm is very stable, but it cannot self-adaptively adjust the constraint threshold based on the vehicle motion state. The neural network algorithm has strong flexibility, but the obtained predicted values inevitably have outliers. The present disclosure combines motion constraints with the neural network algorithms, enabling these two algorithms to complement advantages of each other, thereby effectively improving the positioning accuracy and reliability of the integrated navigation system after GNSS losing lock.