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1. 发明公开

EP4394326A1 INERTIAL NAVIGATION INITIAL-ALIGNMENT METHOD AND APPARATUS APPLIED TO OBLIQUE MEASUREMENT, AND DEVICE 审中-公开
公开(公告)号：EP4394326A1
公开(公告)日：2024-07-03
申请号：EP23790923.9
申请日：2023-03-10
申请人： Qianxun Spatial Intelligence Inc.
发明人： LIU, Yang , ZHAO, Hongsong , XING, Juhong , WANG, Yongsong , QIU, Mobo
IPC分类号： G01C25/00
CPC分类号： G01C25/00
摘要： An inertial navigation initial alignment method, apparatus (300) and device applicable to inclination measurement. The method includes: acquiring (101) a first specific force vector of an inertial navigation system of a receiver in a body coordinate system, and Doppler velocity information and position information; determining (102), according to the Doppler velocity information and the position information, a second specific force vector of the inertial navigation system of the receiver in a navigation coordinate system; determining (103) a first projection of the first specific force vector in an initial moment body inertial frame, and determining a second projection of the second specific force vector in an initial moment navigation inertial frame; performing (104) time integration on the first projection and the second projection respectively to obtain first projection integration velocities and second projection integration velocities; and determining (105), according to the first projection integration velocities and the second projection integration velocities of at least two different moments, a first relative relationship of the body coordinate system with respect to the navigation coordinate system. According to the inertial navigation initial alignment method applicable to inclination measurement, alignment accuracy and reliability of the initial alignment of the inertial navigation system can be improved.

2. 发明公开

EP4398000A1 IONOSPHERIC INTERFERENCE-RESISTANT NETWORK RTK POSITIONING METHOD, APPARATUS AND SYSTEM, AND DEVICE AND STORAGE MEDIUM 审中-公开
公开(公告)号：EP4398000A1
公开(公告)日：2024-07-10
申请号：EP22891590.6
申请日：2022-08-31
申请人： Qianxun Spatial Intelligence Zhejiang Inc. , Qianxun Spatial Intelligence Inc.
发明人： CHEN, Huayan , HE, Xiyang , ZHAN, Xingqun , FENG, Shaojun
IPC分类号： G01S19/41 , G01S19/07
CPC分类号： G01S19/41 , G01S19/42 , G01S19/07
摘要： A network RTK anti-ionospheric disturbance positioning method, apparatus, system, device and storage medium. The method includes: a server generates, according to observation data and position information of base stations in a base station network, ionospheric errors and tropospheric errors of a plurality of baselines, the baseline being formed by connecting two of the base stations; performs modeling based on the ionospheric errors and the tropospheric errors of the plurality of baselines and the position information of the base stations to obtain an atmospheric error model; calculates differential correction data for a plurality of grid point positions in the base station network and quality indicators for the plurality of grid point positions according to a model parameter of the atmospheric error model; determines, according to approximate position information sent by a terminal, a target grid point closest to the approximate position of the terminal from the plurality of grid point positions; and broadcasts differential correction data and a quality indicator for the target grid point to the terminal; the terminal receives differential correction data and a quality factor broadcast by a server, the differential correction data and the quality factor being generated by the server according to observation data and position information of base stations and approximate position information uploaded by the terminal; determines an RTK filtering mode according to the received quality factor, the RTK filtering mode including an ionosphere-free combined filtering mode or a non-combined filtering mode; and performs filtering and calculation, using the determined RTK filtering mode, on observation data of the terminal and the differential correction data received by the terminal to obtain high-precision position information of the terminal. The apparatus includes a receiving module, a judging module and a positioning module; or the apparatus includes an error module, a modeling module, a calculating module, a matching module and a broadcasting module. The system includes a server and a terminal. The device includes a processor and a memory storing computer program instructions. The computer storage medium includes computer program instructions stored thereon.

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