Algorithm On BeiDou/MEMS INS Integrated Systems With Multipath Effects

With the developments of BeiDou Navigation Satellite System and MEMS,the researches on integrated navigation method based on BeiDou and MEMS INS become a hot research area.The research on how to weaken multipath has engineering application values.The research focuses on how to improve the accuracy of integrated navigation system with the multipath effect.The contributions of this research include:(1)The updating algorithm of MEMS INS’s attitude,postion and velocity is deduced with quaternion and rotation vector.The research analyzes the error source of MEMS INS,and provids the error equations.(2)The algorithm uses 15 navigation parameters of MEMS INS as status values,and uses BeiDou/MEMS INS’s position and velocity as measurements.The Kalman filter equation of BeiDou/MEMS INS system is deduced.The result of experiment shows the positioning error of integrated navigation system is 2.33 m,the velocity error is 0.29m/s,and the attitude error is 1.34°.(3)The algotithm applies kalman filter with colored measurement noises to process the multipath effects in BeiDou/MEMS INS integrated navigation system.The results of experiment show the efficiency of the provided algotithm,the positioning accuracy increases 10.5%,the attitude accuracy improves 9.6%,and the velocity accuracy increases 11.6%.(4)The graphical user interface of BeiDou/MEMS INS integrated navigation system is designed by GUI,which achieves many functions,such as,data loading,parameters setting,error calculating and so on.The GUI interface is convenience for BeiDou/MEMS INS system to set the parameters.