Low-Cost INS/GNSS Integration Algorithm Aided by Multi-Constraints Applied to Vehicle Navigation
- Resource Type
- Conference
- Authors
- Ge, Baoshuang; Zhang, Hai; Fu, Wenxing; Chen, Jieling
- Source
- 2020 5th International Conference on Control and Robotics Engineering (ICCRE) Control and Robotics Engineering (ICCRE), 2020 5th International Conference on. :159-163 Apr, 2020
- Subject
- Robotics and Control Systems
Global navigation satellite system
Global Positioning System
Kalman filters
Receivers
Sea measurements
integrated navigation
micro-electromechanical systems (MEMS) barometer
velocity constraints
vehicle positioning
- Language
The low-cost inertial navigation system/global navigation satellite system (INS/GNSS) integration has been widely used to vehicle navigation. However, the positioning performance often declines due to the weak satellite signals. This paper presents a new approach to improve the accuracy of the vehicle navigation. In contrast to the current methods, a new velocity constraint model is developed to aid the estimation of the navigation errors. The altitude accuracy of GNSS is challenged in comparison with its position in the horizonal plane. Thus, an auxiliary low-cost barometer is used to obtain the height as well. The experimental results demonstrate the benefit of the proposed multi-constraints aiding algorithm.