3 MEASUREMENT APPARATUS AND METHOD FOR IMPROVING SATELLITE NAVIGATION RELIABILITY AND REAL-TIME INTEGRATED INERTIAL NAVIGATION USING INTERACTION WITH 3-D MAP COMPUTING ENGINE

摘要

In order to improve the reliability of a satellite navigation system in an urban environment, a method of improving accuracy performance by interlocking 3D map information, which is received through a satellite signal receiving step and a satellite signal receiving step using a satellite receiver. Navigation measurement information combined through a visible satellite group combination step and a visible satellite group combination step that combines the generated navigation measurement values of a visible satellite group through a navigation measurement generation step and a navigation measurement value generation step using a satellite signal to generate a navigation measurement value A high-speed navigation solution execution step and a navigation solution execution step that process real-time NLOS vector information using a navigation solution output step and a 3D map information output through a receiver navigation solution calculation step and a receiver navigation solution calculation step to calculate a Multipath satellite version that receives information from and determines multipath satellites Step and multi-path, including the hybrid navigation operation comprising: providing a combination of navigation to multipath is removed via the satellite determining step is characterized in that formed.