Body frame constraint for a GNSS/MEMS INS integrated system in land vehicle navigation

Hua Liu*, Tong Liu, Ji Wei Zhang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)

Abstract

For global navigation satellite system(GNSS) and micro-electro mechanical system (MEMS) inertial navigation system (INS) integrated system in land vehicle application, a particular constraint based on features of a vehicle's motion is setup on its body frame to improve the system performance. Body frame constraint limits the velocities along the plane perpendicular to the vehicle's moving direction to approximate zero, which accordingly introduces couple of additionally virtual measurements into the extended Kalman filter (EKF) that is typically applied for two systems fusion. Thanks to those virtual measurements, the EKF is able to keep its measurement updates even over GNSS signal outage period. The filter continuously produces error estimations and feedbacks during the absence of external observables from GNSS, whatever the vehicle's dynamics is. The field test indicates that the system accuracy of positioning can be improved by 75% over 30 s GNSS outages and the accuracy of attitude and velocity is improved as well.

Original languageEnglish
Pages (from-to)510-515
Number of pages6
JournalBeijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology
Volume33
Issue number5
Publication statusPublished - May 2013

Keywords

  • Body frame constraint
  • Extended Kalman filter (EKF)
  • Global navigation satellite system (GNSS)
  • Integrated navigation
  • MEMS intertial navigation system(INS)

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Liu, H., Liu, T., & Zhang, J. W. (2013). Body frame constraint for a GNSS/MEMS INS integrated system in land vehicle navigation. Beijing Ligong Daxue Xuebao/Transaction of Beijing Institute of Technology, 33(5), 510-515.