Evaluating and improving the consumer grade tightly coupled navigation system for land vehicle

• 作 者: Gang Sun Youlong Wu Changming Wang Zhong Yang
• 机 构: Jinling Institute of Technology,99 Hongjing Road,211169 Nanjing,China
• 出 处: 第八届中国卫星导航学术年会
• 发表日期: 2017年4期
• 关键词: MEMS Inertial integrated navigation Tightly coupled

　　In decades,smart device has been experienced a sharp increase.It usually embedded the consumer grade GPS chip,MEMS inertial sensors,magnetometer and barometer.Now,most people are used to estimate the position and orientation by their phones in walking and driving.However,in urban area,the GPS signal is easy to be partially or completely blocked in some sophisticated environments,which would lead to the large drift or failure in positioning result.Due to the fabrication process and materials,the embedded inertial sensor usually has inevitable drawbacks on performance,which consequently cause a fast positioning drift in seconds.Moreover,the information from built-in GPS receiver is usually restricted to the position and velocity by NMEA format.To evaluate and improve the integrated navigation system by consumer grade MEMS sensors and GPS receiver,this paper proposed the tightly coupled integrated navigation schemes on a low cost multisensor platform NAVCON which can access the raw measurements from an on-board consumer GPS receiver.In proposed method,measurement quality control strategies are properly applied to improve the accuracy and robustness of navigation solutions.The road trial result indicates that implementing loosely and tightly coupled GPS/INS integration strategies by consumer grade inertial sensors is feasible,and the proposed method can effectively improve the navigation performance in sophisticated environments.