Abstract
In order to simplify the MEMS-IMU/GNSS integrated navigation system model, improve the navigation accuracy of the carrier under the motion condition of large Angle or frequent steering turning, two navigation modes are adopted. When GNSS signals are available, horizontal velocity and height error are used to construct three-dimensional measurement equations for partial integrated navigation. When GNSS signals are unavailable, kinematic constraint equations are introduced to assist MEMS-IMU for auxiliary navigation. Considering the problem that MEMS gyroscope zero is too large and compass effect is difficult to be reflected, a partial attitude feedback strategy is adopted for the feedback correction. The experimental results show that when GNSS signals are available, compared with the six-dimensional integrated algorithm of speed and position, the partial integrated algorithm simplifies the system model, reduces the dimension of the system, and reduces the amount of calculation, it also has better accuracy. When GNSS signals are unavailable, kinematics constraints auxiliary navigation can effectively restrain position offset, reduce navigation errors and improve navigation accuracy.
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