Research on Dual-antenna GNSS-assisted MINS Navigation Method

Authors

Hailu Wang, 1. University of Beijing Information Science & Technology Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100192, China; ;2. Key Laboratory of Modern Measurement & Control Technology, Ministry of Education, Beijing 100101, China; ;
Su Zhong, 1. University of Beijing Information Science & Technology Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100192, China; ;2. Key Laboratory of Modern Measurement & Control Technology, Ministry of Education, Beijing 100101, China; ;
Liu Ning, 1. University of Beijing Information Science & Technology Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100192, China; ;2. Key Laboratory of Modern Measurement & Control Technology, Ministry of Education, Beijing 100101, China; ;
Liu Hong, 1. University of Beijing Information Science & Technology Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100192, China; ;2. Key Laboratory of Modern Measurement & Control Technology, Ministry of Education, Beijing 100101, China; ;
Guodong Fu, 1. University of Beijing Information Science & Technology Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100192, China; ;2. Key Laboratory of Modern Measurement & Control Technology, Ministry of Education, Beijing 100101, China; ;3. Beijing DEWIN Co., Ltd, Beijing 100101, China;

Abstract

Abstract: For the integrated navigation system of the single-antenna GNSS-assisted MEMS strap-down inertial navigation system (MINS), the heading angle divergence is invalid when the vehicle is stationary and linear motion, and the error is large. The method of the dual-antenna GNSS-assisted MINS integrated navigation based on EKF is proposed. The error state model is established, and the extended Kalman filter combined filter (EKF) algorithm is designsed for simulation verification. The driving test is carried out by comparing the high-precision SPAN-CPT. The results show that the yaw angle and pitch angle accuracy are 0.2 RMS, 0.3 RMS, which can be used for low-cost and high-precision vehicle navigation.

Recommended Citation

Wang, Hailu; Zhong, Su; Ning, Liu; Hong, Liu; and Fu, Guodong (2019) "Research on Dual-antenna GNSS-assisted MINS Navigation Method," Journal of System Simulation: Vol. 31: Iss. 11, Article 29.
DOI: 10.16182/j.issn1004731x.joss.19-FZ0312
Available at: https://dc-china-simulation.researchcommons.org/journal/vol31/iss11/29

First Page

2434

Revised Date

2019-07-12

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.19-FZ0312

Last Page

2441

CLC

TN391.9

Recommended Citation

Wang Hailu, Su Zhong, Liu Ning, Liu Hong, Fu Guodong. Research on Dual-antenna GNSS-assisted MINS Navigation Method[J]. Journal of System Simulation, 2019, 31(11): 2434-2441.

DOI

10.16182/j.issn1004731x.joss.19-FZ0312