LOCALIZATION OF UNMANNED VEHICLE ACCOUNTING FOR SATELLITE NAVIGATION UNAVAILABLE INTERVAL

摘要

A method for positioning of an unmanned vehicle (UV) including a gyroscope and a satellite navigation receiver is provided. A method provided is that a satellite navigation signal is received by a satellite navigation receiver at a first time point and a second time point, but is not available for use in positioning over a satellite navigation unavailable interval between the first time point and the second time point. determining a first estimated position of the UV at a first time point and a second estimated position of the UV at a second time point based on the navigation signal, the first estimated position and a plurality of possible pairs of azimuth and bias based on a predefined Dead Reckoning (DR) model in which the corresponding estimated position of the UV at the second time point is calculated using any of the first determining the pair of the estimated azimuth of the UV at the time point and the estimated bias of the gyroscope at the first time point as being particular of a plurality of possible pairs.