Technical Paper
Vehicle-Mounted Integrated Positioning System with Vondrak Low Pass Filter and Multi-Dynamic Constraints in Urban Shaded Environment
2020-12-30
2020-01-5214
The Global Navigation Satellite System (GNSS) alone cannot provide high-precision and continuous positioning information for vehicles. The integration of GNSS with Inertial Navigation Systems (INS) has now been very intensively developed and widely applied in high precision positioning of vehicle and provide continuous position, velocity and attitude. However, the overall performance of low-cost GNSS/MEMS IMU frequently degrades in urban shaded environments. Traditional constraints GNSS/MIMU algorithm based on zero-velocity detection can effectively increase the accuracy of the navigation system, but easily influenced by external factors to false detection. This article aims to introduce a multi-dynamic constraints model as accurate update source for EKF to improve the accuracy of navigation solutions of a vehicle during satellites signal blockages. Firstly, we present a tightly coupled strategy to integrate GPS/BDS and INS by applying extended Kalman filter with 27-states.
