Design and implementation of an open-source MATLAB code for GNSS/MEMS-INS deep integrated navigation

Abstract

In recent years, the research regarding Global Navigation Satellite System (GNSS) / MEMS (Micro-Electro-Mechanical System)-Inertial Navigation System(INS) Deep Integrated (DI) navigation has aroused widespread concern. The DI navigation method can significantly improve the dynamic performance and anti-interference ability of the GNSS receiver in scenarios such as high dynamics and weak signals. On the one hand, the estimated parameters of the GNSS/MEMS-INS integrated navigation filter can be adopted to improve the shortcomings of INS system error divergence over time. On the other hand, the MEMS-INS enhances tracking sensitivity and accuracy by compressing bandwidth to assist the GNSS receiver tracking loop. In this paper, we present the open source matlab code of the GNSS/MEMS-INS DI method. It provides a basic framework to facilitate researchers and scientists to investigate its pros and cons in a variety of complex scenarios. In order to achieve this goal, the implementation details of the developed algorithm are described, which is conducive to the rapid implementation and evaluation of the users’ new algorithm related to DI. Finally, the experiment was carried out to show the usage and performance of the provided code in a high dynamic scene.