Integrated navigation system and positioning method thereof

A receiving device comprising the integrated navigation system, wherein the integrated navigation system, comprises:

• a GNSS resolving module;
• an integrated navigation filter;
• and
• an auxiliary navigation module using a sensor;
• wherein the auxiliary navigation module outputs corresponding positioning and/or orientation measurements to the integrated navigation filter;
• the GNSS resolving module outputs a floating point solution or a single point solution;
• the integrated navigation system further comprises:
• a smoothing filter, corresponding to the GNSS resolving module, wherein the smoothing filter is configured to perform a smooth filtering processing on the floating point solution or single point solution to obtain a smooth floating point solution or a smooth single point solution respectively;
• wherein the integrated navigation filter is configured to perform integrated filtering on the received smooth floating point solution, smooth single point solution and the corresponding received positioning and/or orientation measurements so as to obtain corresponding positioning and/or orientation variable error estimates and sensor error estimates.

A positioning method of the integrated navigation system, which comprises the steps of:

• receiving satellite signals;
• resolving the received satellite signals according to qualities of the received satellite signals to obtain a floating point solution or a single point solution;
• performing smooth filtering processing to the floating point solution or single point solution so as to obtain a smooth floating point solution or a smooth single point solution respectively;
• and
• performing integrated filtering to the obtained smooth floating point solution or smooth single point solution and the corresponding received positioning and/or orientation measurements so as to obtain corresponding positioning and/or orientation variable error estimates and sensor error estimate.