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.