GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) integrated navigation assisting method based on double channels

The invention discloses a GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) integrated navigation assisting method based on double channels, which comprises the following steps of: performing data preprocessing, namely normalizing data, dividing a data set, converting one-dimensional sequence information into three-dimensional tensor information, transmitting the data to a double-channel LSTM-GRU model, and training and predicting the models in the double channels at the same time; models of the two channels adopt the same model structure and different model parameters, the model in each channel comprises an LSTM module and a GRU module, the two channels independently output longitude and latitude increment information respectively, finally data integration processing is carried out on prediction results respectively, and then a GNSS prediction track is output. According to the method, the training efficiency is higher, the capability of selectively reserving and utilizing historical in