Abstract: An integration navigation device and method in which wireless signal strength data collecting and processing module obtains first position information of a target to be detected; a MEMS sensor data collecting and processing module obtains, according to state change information of the target to be detected, second position information of the target to be detected; a data integration module integrates the first position information and the second position information and feeds back the integrated result to the wireless signal strength data collecting and processing module and the MEMS sensor data collecting and processing module to perform data processing of the next moment.

Abstract: A positioning method using height-constraint-based extended Kalman filter, suitable for a GNSS navigation and positioning system, comprises: obtaining an estimated state value of a current epoch by using an extended Kalman filter algorithm and according to an estimated state value of a previous epoch; constraining a positioning height of the current epoch by establishing a height constraint condition, so as to obtain an optimum estimated value of the current epoch and a corresponding mean square error, wherein the optimum estimated value satisfies the height constraint condition; further correcting the estimated state value by using a pseudorange obtained from the mean square error and a measured Doppler shift residual to obtain a final estimated state value of the current epoch, thus more accurately obtaining positioning information of a target to be positioned in the current epoch and enhancing the accuracy of GNSS navigation and positioning.

Abstract: A positioning method using height-constraint-based extended Kalman filter, suitable for a GNSS navigation and positioning system, comprises: obtaining an estimated state value of a current epoch by using an extended Kalman filter algorithm and according to an estimated state value of a previous epoch; constraining a positioning height of the current epoch by establishing a height constraint condition, so as to obtain an optimum estimated value of the current epoch and a corresponding mean square error, wherein the optimum estimated value satisfies the height constraint condition; further correcting the estimated state value by using a pseudorange obtained from the mean square error and a measured. Doppler shift residual to obtain a final estimated state value of the current epoch, thus more accurately obtaining positioning information of a target to be positioned in the current epoch and enhancing the accuracy of GNSS navigation and positioning.

Abstract: An integration navigation device and method in which wireless signal strength data collecting and processing module obtains first position information of target to be detected; a sensor data collecting and processing module obtains, according to state change information of the target to be detected, second position information of the target to be detected; a data integration module fuses the first position information and the second position information and feeds back the fused result to the wireless signal strength data collecting and processing module and the sensor data collecting and processing module to perform data processing of the next moment.