Global Navigation Satellite System/Strapdown Inertial Navigation System Integrated Navigation Algorithm in Complex Urban Environment

LIU Xiaohui; WANG Yichen; WEN Chao; LI Zongnan

doi:10.11999/JEIT230834

Volume 45 Issue 11

Nov. 2023

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Article Navigation > Journal of Electronics & Information Technology > 2023 > 45(11): 4150-4160

LIU Xiaohui, WANG Yichen, WEN Chao, LI Zongnan. Global Navigation Satellite System/Strapdown Inertial Navigation System Integrated Navigation Algorithm in Complex Urban Environment[J]. Journal of Electronics & Information Technology, 2023, 45(11): 4150-4160. doi: 10.11999/JEIT230834

Citation:

LIU Xiaohui, WANG Yichen, WEN Chao, LI Zongnan. Global Navigation Satellite System/Strapdown Inertial Navigation System Integrated Navigation Algorithm in Complex Urban Environment[J]. Journal of Electronics & Information Technology, 2023, 45(11): 4150-4160. doi: 10.11999/JEIT230834

Citation:

LIU Xiaohui, WANG Yichen, WEN Chao, LI Zongnan. Global Navigation Satellite System/Strapdown Inertial Navigation System Integrated Navigation Algorithm in Complex Urban Environment[J]. Journal of Electronics & Information Technology, 2023, 45(11): 4150-4160. doi: 10.11999/JEIT230834

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Global Navigation Satellite System/Strapdown Inertial Navigation System Integrated Navigation Algorithm in Complex Urban Environment

doi: 10.11999/JEIT230834

Engineering Research Center for Position Navigation and Time, College of Electronic Science and Technology, National University of Defense Technology, Changsha 410073, China

Funds: The National Natural Science Foundation of China(U20A20193)

Received Date: 2023-08-02
Rev Recd Date: 2023-11-05

Available Online: 2023-11-14

Publish Date: 2023-11-28

Abstract

Abstract

In order to solve the problem that the Global Navigation Satellite System (GNSS) signal is frequently unlocked or rejected in complex urban environment, which has great influence on the navigation accuracy and robustness of GNSS/ Strapdown Inertial Navigation System (SINS) integrated navigation system, an improved factor graph filtering method is proposed in this paper. Firstly, GNSS receiver internal parameters are used to construct signal error identification function to estimate the performance of signal measurement at real time in the situation of multipath interference and occlusion. Simultaneously, zero-velocity update factor is constructed by the carrier motion constraint to update the system state under the condition of GNSS rejection. The experimental results show that compared with the classical factor graph method, the improved factor graph method can improve the positioning accuracy by 63.50% and the velocity measurement accuracy by 42.26% in complex environment with lower storage and computational complexity. The method is especially suitable for the scenarios with strong constraints on navigation accuracy, hardware resources and real-time performance in urban vehicle assisted driving navigation equipment.
- Global Navigation Satellite System(GNSS),
- Strapdown Inertial Navigation System(SINS),
- Factor graph,
- Zero-velocity update

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References(18)

References

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