Development of a low-cost INS/GNSS/odometer integration algorithm for a road surface testing laboratory software

Авторы: Vavilova N.B., Vyazmin V.S., Golovan A.A.
Сборник: 26th Saint Petersburg International Conference on Integrated Navigation Systems Proceedings
Год издания: 2019
Место издания: State Research Center of the Russian Federation Concern CSRI Elektropribor, JSC Saint Petersburg, Russia
DOI: 10.23919/ICINS.2019.8769343
Аннотация: Navigation equipment of a road surface testing vehicle (car) in-cludes a strapdown inertial navigation system (INS), a global navigations satellite system (GNSS) receiver and an odometer. In this work we analyse a low-cost INS for using in the vehicle navigation equipment. An INS/GNSS/odometer integration algorithm was developed and applied to postprocessing data collected from a typical testing survey. The computed integrated navigation solution was compared with a reference solution provided by a No-vAtel navigation system. The reference navigation system consisted of a tactic-grade strapdown INS, an odometer and two high precision GNSS receivers operating in the differential mode. Nu-merical results presented in the paper show that the low-cost INS/GNSS/odometer integration allows to determine the vehicle position in an urban area with an accuracy of 1 m and the roll and pitch angles with an accuracy of 0.1° that satisfy accuracy requirements.
Добавил в систему: Вязьмин Вадим Сергеевич

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