Effects Analysis of Constraints on GNSS/INS Integrated Navigation

LI Yanjie; YANG Yuanxi; HE Haibo

doi:10.13203/j.whugis20150526

Volume 42 Issue 9

Sep. 2017

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Geomatics and Information Science of Wuhan University > 2017 > 42(9): 1249-1255. > DOI: 10.13203/j.whugis20150526

LI Yanjie, YANG Yuanxi, HE Haibo. Effects Analysis of Constraints on GNSS/INS Integrated Navigation[J]. Geomatics and Information Science of Wuhan University, 2017, 42(9): 1249-1255. DOI: 10.13203/j.whugis20150526

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Effects Analysis of Constraints on GNSS/INS Integrated Navigation

1.
Institute of Navigation and Space Target Engineering, Information Engineering University, Zhengzhou 450050, China
2.
Beijing Satellite Navigation Center, Beijing 100094, China
3.
State Key Laboratory of Geo-information Engineering, Xi'an 710054, China

Funds:

The National Natural Science Foundation of China 41020144004A

The National Natural Science Foundation of China 41374019

The National Natural Science Foundation of China 41474015

The National Natural Science Foundation of China 41274045

the National High-Technology Research and Development Program of China 2013AA122501

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Author Bio:
LI Yanjie，master, specializes in GNSS/INS integrated navigation and data processing. E-mail: Yanj_lee@126.com
Received Date: March 16, 2016
Published Date: September 04, 2017

Graphical Abstract

Abstract

Abstract

A Kalman filter with kinematic motion constraints is presented to address the problem of increasing position error from INS on s vehicle when the GNSS/INS integrated navigation system is without a GNSS signal. By using the inherent motion constraints, such as approximation height constraint, velocity constraint, and attitude constraint, the freedom of motion of a vehicle will be controlled and the unknown model parameters will be reduced. Both motion constraints and new kind measurements will strengthen the solution in constraint Kalman filtering. The positioning accuracy of the GNSS/INS integrated navigation system can be improved when the GNSS signal is blocked, achieving continuous navigation.
- GNSS/INS integrated navigation system,
- constraints with measurements,
- Kalman filter

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