Study on low-cost vehicle INS/GNSS integrated navigation system based on assistance of simplified vehicle non-holonomic constraints

FENG Mu-ju; ZHAI Kun-peng; LIN Xiao-long; HUANG Wu-kang; HE Wen-tao

Chinese

您当前的位置：

首页 >

文章列表页 >

Study on low-cost vehicle INS/GNSS integrated navigation system based on assistance of simplified vehicle non-holonomic constraints

更新时间：2026-09-04

- Study on low-cost vehicle INS/GNSS integrated navigation system based on assistance of simplified vehicle non-holonomic constraints
- Vol. 37, Issue 8, Pages: 78-82(2020)
- 作者机构：
  
  1. 中国科学院机构微电子研究所,北京,100029
  2. 中国科学院大学,北京,100049
  3. 中国科学院微电子研究所嘉兴微电子与系统工程中心,浙江,嘉兴,314001
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Published：2020
- 稿件说明：
移动端阅览
冯木榉, 翟昆朋, 蔺晓龙, 黄武康, 何文涛. 基于简化车辆非完整约束辅助的低成本车载INS/GNSS组合导航系统研究[J]. 微电子学与计算机, 2020, 37(8): 78-82.

FENG Mu-ju, ZHAI Kun-peng, LIN Xiao-long, et al. Study on low-cost vehicle INS/GNSS integrated navigation system based on assistance of simplified vehicle non-holonomic constraints[J]. 2020, 37(8): 78-82.
冯木榉, 翟昆朋, 蔺晓龙, 黄武康, 何文涛. 基于简化车辆非完整约束辅助的低成本车载INS/GNSS组合导航系统研究[J]. 微电子学与计算机, 2020, 37(8): 78-82. DOI：

FENG Mu-ju, ZHAI Kun-peng, LIN Xiao-long, et al. Study on low-cost vehicle INS/GNSS integrated navigation system based on assistance of simplified vehicle non-holonomic constraints[J]. 2020, 37(8): 78-82. DOI：

摘要

针对采用低成本MEMS-IMU器件的INS/GNSS组合导航系统在GNSS信号中断时产生较大误差的问题，研究了一种基于车辆非完整约束辅助的低成本车载INS/GNSS组合导航系统，针对系统的低成本特性对车辆非完整约束进行了简化，并据此推导了滤波算法的模型.仿真分析以及车载测试的结果均表明，对于消费级MEMS-IMU和GNSS接收机构成的低成本INS/GNSS组合导航系统，加入简化车辆非完整约束的辅助后，在GNSS信号中断1min期间组合导航位置误差小于行驶距离的3%.该约束的应用可以显著提高低成本车载INS/GNSS组合导航系统的精度.

Abstract

Aiming at solving the problem of large errors for INS/GNSS integrated navigation system with low cost MEMS-IMU device

during loss of GNSS signal

a low-cost vehicle INS/GNSS integrated navigation system based on assistance of vehicle non-holonomic constraints is studied. The vehicle non-holonomic constraints are simplified for the low-cost characteristics of the system

and the model of the filtering algorithm is derived accordingly. The results of simulation analysis and on-board testing show that

for the low-cost INS/GNSS integrated navigation system composed of consumer-grade MEMS-IMU and GNSS receiver

during 1min loss of GNSS signal

the navigation position error is less than 3% of the driving distance

after adding the assistance of such simplified vehicle non-holonomic constraints. The application of such constraints can significantly improve the accuracy of low-cost vehicle INS/GNSS integrated navigation systems.

关键词

Keywords

references

WU Y X. Versatile Land Navigation Using Inertial Sensors and Odometry: Self-calibration, In-motion Alignment and Positioning [C] // Inertial Sensors and Systems. Karlsruhe: IEEE, 2014.

WU Y X, CHRIS GOODALL, NASER El-SHEIMY. Self-calibration for IMU/Odometer Land Navigation: Simulation and Test Results [C] // ION 2010 International Technical Meeting. San Diego: ION, 2010: 839-849.

DAVID H TITTERTON, JOHN L WESTON. Strapdown Inertial Navigation Technology [M]. 2nd Edition. London: Institution of Electrical Engineers, 2004.

GREWAL M S, WEILL L R, ANDREWS A P. Global Positioning Systems, Inertial Navigation, and Integration [M].2nd Edition.New York: Wiley, 2007: 382-387.

RYAN J, BEVLY D. Robust Ground Vehicle Constraints for Aiding Stand Alone INS and Determining Inertial Sensor Errors [C] // International Technical Meeting of The Institute of Navigation. Newport Beach: ION, 2012: 374-384.

PAUL D GROVES. Principles of GNSS, Inertial and Multisensor Integrated Navigation Systems [M]. 2nd Edition. London: Artech House, 2013.

COX D B. Integration of GPS with inertial navigation systems [J]. Navigation, 1978, 2(25): 236-245. DOI: 236

TANG Y G, WU Y X, WU M P, et al. INS/GPS Integration: Global Observability Analysis [J]. IEEE Transactions on vehicular technology, 2009, 58(3): 1129-1142. DOI: 1129

WU Y, WU M, HU X, et al. Self-calibration for Land Navigation Using Inertial Sensors and Odometer: Observability Analysis [C] // AIAA Guidance, Navigation and Control Conference. Chicago: AIAA, 2009.

DISSANAYAKE G, SUKKARIEH S, NEBOT E, et al. The Aiding of a Low-Cost Strapdown Inertial Measurement Unit Using Vehicle Model Constraints for Land Vehicle Applications [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2001, 17(5): 731-747. DOI: 731

Washington GREENSPAN R L. Global Positioning System: Theory and Applications, Volume Ⅱ [M]. Washington: AIAA, 1996: 187-220. DOI: 187

NIU X J, SAMEH NASSAR, NASER El-SHEIMY. An Accurate Land-Vehicle MEMS IMU/GPS Navigation System Using 3D Auxiliary Velocity Updates [J]. NAVIGATION, Journal of the Institute of Navigation, 2007, 54(3): 177-188 DOI: 177

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Microservices anomaly detection based on the correlation of monitoring metrics

Research on the design of blockchain-based AI-generated content traceability framework

Research on assembly action recognition based on MSS-YOLO-MPHands fusion architecture

Implementation and verification of a dual-chain power gating strategy for low power design

Simulation on the DC characteristics of double heterojunction p-GaN HEMT with AlN/GaN hybrid buffer layer

Related Author

No data

Related Institution

No data

AI问答

Postal code：100079
Tel：（010）53879206 Email：tmw@bjxintong.com.cn
Technical support is provided by Beijing Founder electronics co., LTD 京ICP备09082226号-64 京公网安备11010602201714号
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰