Research On Vehicle Integrated Navigation Technology Based On MEMS IMU

With the development of automobile industry,the vehicle navigation system(VNS)was widely used in unmanned driving?precision agriculture and car navigation.With the development of mobile Internet technology and Internet of things technology,vehicle integrated navigation needs to meet the requirements of lane level navigation and position in all weather and all road conditions.Early vehicle navigation system which is based on dead reckoning uses sensors,such as wheel encoders and gyroscopes,to navigate the vehicle;Then,the establishment and civilian use of the global navigation satellite system(GPS)as well as its Multi-sensor fusion has greatly improved the accuracy of the vehicle navigation system.Nowadays,the vehicle integrated navigation has been intensively studied;At present the GNSS/INS integrated navigation technology is relatively mature,the main goal of the new round of research is to improve the navigation accuracy under the premise of reducing the cost.In this paper,the GNSS/INS integrated navigation technology with the use of MEMS IMU,vehicle motion constraint information and sensor(Odometer or vehicle sensors)have been used to study the low cost and high precision vehicle navigation system and its key technology,the performance and navigation accuracy of the low cost and high precision vehicle navigation system based on MEMS IMU is explored to meet the requirements of the lane level civilian navigation and position under all-weather and all conditions even if the lack of GNSS coverage.In this paper,through a large number of on-board tests in the open suburbs and complex urban conditions of Guangzhou,the performance of fault tolerant mechanism in vehicle navigation system is analyzed;through a large number of on-board tests in the open suburbs of Wuhan,the navigation of different levels of MEMS IMU navigation system under different auxiliary conditions(nonholonomic constrains and odometer assistance)is analyzed;through a large number of on-board tests in the conventional and typical scenes of Wuhan urban areas,the performance of Multi-source vehicle integrated navigation system is evaluated.Experimental results show:1)Nonholonomic constraints is helpful to improve the navigation precision of the integrated system,especially the heading accuracy of different level of MEMS IMU.2)The vehicle navigation system accuracy when the GNSS is interrupted can be greatly improved with the use of odometer.In this paper,the vehicle navigation system based on high precision MEMS IMU,when the GNSS is interrupted 120 seconds,the horizontal position error is less than 2 meters,and the heading error is less than 0.2 degrees.3)The vehicle integrated navigation system based on the measurement innovation can effectively improve the navigation accuracy in the urban environment under the condition of choosing the reasonable threshold of normalized innovation.