INERTIA-BASED NAVIGATION DEVICE AND INERTIA-BASED NAVIGATION METHOD BASED ON RELATIVE PRE-INTEGRATION

摘要

Disclosed are an inertia-based navigation device and an inertia-based navigation method based on relative pre-integration. The inertia-based navigation device comprises: a first sensor unit to sense motion information for a movement of a moving body moving based on a first coordinate system to output the motion information; a second sensor unit to sense inertia data for a linear acceleration and an angular acceleration by a movement of the moving body based on a second coordinate system; and a control unit to determine orientation information for a position, a speed, and an orientation angle of the moving body on a preset reference coordinate system based on the motion information and the inertia data for every first time. The control unit calculates first pose information which is orientation information of the moving body based on the motion information, performs pre-integration on the inertia data based on an external correction value which is a preset relationship between the first and the second coordinate system to estimate an relative pre-integration amount which is a position change amount, a speed change amount, and an orientation change amount of the moving body predicted on the first coordinate system during the first time, calculates second pose information which is orientation information of the moving body in accordance with the inertia data based on the relative pre-integration amount and the external correction value, compares the first and the second pose information to correct an error of the second pose information, and determines the corrected second pose information as orientation information of the moving body.;COPYRIGHT KIPO 2019