Abstract
For vehicle navigation applications in the GNSS denied scenarios such as dense urban canyon, parking lot and tunnel, it is quite difficult for the smartphone-based navigation scheme to maintain continuous and reliable positioning. To solve these problems, a vehicle multi-source fusion navigation method applicable for smartphone platform is proposed. With the characteristics of geomagnetic anomaly and the mileage data, a magnetic matching is performed to obtain the vehicle real-time position. Meanwhile, the GNSS information, the vehicle kinematical model and the wheel speed information from On-Board Diagnostic (OBD) system are utilized to fuse with the MIMU-SINS results and then restrain the error divergence further effectively. Road tests showed that the proposed method could provide accurate and continuous position. The horizontal error and the elevation positioning error is 2.4 m and 0.7 m respectively, which can meet the demands of urban vehicle navigation applications well.
| Translated title of the contribution | Vehicle multi-source fusion navigation method based on smartphone platform |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 638-644 and 693 |
| Journal | Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology |
| Volume | 28 |
| Issue number | 5 |
| DOIs | |
| State | Published - Oct 2020 |