GNSS/IMU vehicle real-time integrated navigation method based on mems

Abstract

The invention relates to the technical field of navigation and positioning, in particular to a MEMS-based GNSS / IMU vehicle-mounted real-time combined navigation and positioning method, the process of which is: using the IMU to output information at the current moment and the previous adjacent moment and the current moment output information of the GNSS, Perform dynamic initial alignment; use IMU information at two adjacent moments to carry out strapdown calculations, and obtain the covariance matrix at that moment through Kalman prediction; meet the time conditions to trigger fusion calculations, and use the IMU and GNSS corresponding to the current moment Calculate the GNSS delay deviation dt in UTC time, and calculate the GNSS information at the current IMU time; update the Kalman filter, feedback the state error amount to correct the navigation information, and loop the solution. The invention adopts a low-cost MEMS IMU, eliminates the GNSS delay output error, improves the positioning accuracy, and realizes a real-time vehicle-mounted integrated navigation positioning method.

Description

technical field [0001] The invention relates to the technical field of navigation and positioning, in particular to a MEMS-based GNSS / IMU vehicle-mounted real-time combined navigation method. Background technique [0002] Vehicle navigation technology continues to develop with the vigorous development of the automobile industry, and vehicle users have a great demand for real-time information such as the current vehicle location. With the development of Beidou navigation satellites, it forms GNSS together with GLONASS, GPS, GALILEO and other satellite navigation systems, which is the global satellite navigation system. , and the continuous development of society in recent years has formed a complex urban terrain environment, signal occlusion, multi-path and other factors lead to poor GNSS positioning effect; and the completely autonomous navigation characteristics of the inertial navigation system make up for the lack of GNSS positioning technology, but higher The high-preci...

AI Technical Summary

Problems solved by technology

[0003] At the same time, for low-cost vehicle-mounted integrated navigation systems, during the real-time integrated navigation calculation process of GNSS and MEMSIMU, due to the high output frequency of MEMSIMU, the calculation amount of inertial navigation solution and Kalman filter is complex and huge. As far as the MCU is concerned, the calculation process at the previous moment takes a long time, so that when the information is fused at the next moment, the GNSS output information and the IMU output information are not at the same time, which will inevitably affect the current filtering results, thereby affecting the vehicle integrated navigation system. positioning accuracy

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