Method, Apparatus and System with Error Correction for an Inertial Navigation System

An apparatus with error correction capability for an Inertial Navigation System, the Inertial Navigation System corrects a positioning parameter of a moving object by recursive calculation and using a navigation map and the GPS information as inputs to the recursive calculation, comprising:

• a working state detection module configured to determine the working state of the Inertial Navigation System based on an current positioning parameter of the moving object, a navigation map-based reference positioning parameter and a GPS-based reference positioning parameter;
• and
• a state reset module configured to replace an initial parameter of the Inertial Navigation System with the GPS-based reference positioning parameter and reset the Inertial Navigation System to an initial state for correcting errors caused by the failure to update the road-net information of the navigation map or caused by the inaccurate mapping for the road-net information in the Inertial Navigation System if the Inertial Navigation System is in an abnormal working state.

The apparatus of 14, further comprising:

• a second statistic value acquisition module configured to obtain a second statistic value from the second local abnormal condition counter and obtain a accumulated second statistic value by adding one to the second statistic value if the intensity of the current GPS signals is less than the predetermined threshold intensity,
• wherein if the accumulative second statistic value is greater than or equal to a second predetermined threshold, the Inertial Navigation System is determined to be in the abnormal working state and the second local abnormal condition counter is reset to zero.

An system for correcting errors caused by a failure to update road-net information of a navigation map or caused by inaccurate mapping for the road-net information, comprising:

• an Inertial Navigation System configured to correct an positioning parameter of a moving object by recursive calculation and using the navigation map and the GPS information as inputs to the recursive calculation;
• and
• an apparatus with error correction configured to determine a working state of the Inertial Navigation System based on a current positioning parameter of the moving object, a navigation map-based reference positioning parameter and a GPS-based reference positioning parameter, replace an initial parameter of the Inertial Navigation System with the GPS-based reference positioning parameter and reset the Inertial Navigation System to an initial state for correcting errors caused by the failure to update the road-net information of the navigation map or caused by the inaccurate mapping for the road-net information in the Inertial Navigation System if the Inertial Navigation System is in an abnormal working state.