TY - GEN
T1 - Low-Cost INS/GNSS Integration Algorithm Aided by Multi-Constraints Applied to Vehicle Navigation
AU - Ge, Baoshuang
AU - Zhang, Hai
AU - Fu, Wenxing
AU - Chen, Jieling
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/4
Y1 - 2020/4
N2 - 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.
AB - 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.
KW - integrated navigation
KW - micro-electromechanical systems (MEMS) barometer
KW - vehicle positioning
KW - velocity constraints
UR - http://www.scopus.com/inward/record.url?scp=85085976987&partnerID=8YFLogxK
U2 - 10.1109/ICCRE49379.2020.9096484
DO - 10.1109/ICCRE49379.2020.9096484
M3 - 会议稿件
AN - SCOPUS:85085976987
T3 - 2020 5th International Conference on Control and Robotics Engineering, ICCRE 2020
SP - 159
EP - 163
BT - 2020 5th International Conference on Control and Robotics Engineering, ICCRE 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th International Conference on Control and Robotics Engineering, ICCRE 2020
Y2 - 24 April 2020 through 26 April 2020
ER -