A MM-aided inertial navigation for land vehicle in GNSS-denied environment

XvDong Gan; Shuang Du; WenHui Yang

doi:10.1117/12.2639548

1 August 2022 A MM-aided inertial navigation for land vehicle in GNSS-denied environment

XvDong Gan, Shuang Du, WenHui Yang

Proceedings Volume 12257, 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022); 1225725 (2022) https://doi.org/10.1117/12.2639548
Event: 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022), 2022, Guangzhou, China

Abstract

The odometer (OD) had been widely employed for the land vehicle navigation with an inertial navigation System (INS) during global Navigation Satellite System (GNSS) outages, but the navigation error of such system still accumulates with the measurements from the odometer. In this paper, we present a Map-Matching (MM)-based approach to enhance the positioning performance of the micro-electro-mechanical systems (MEMS) INS/odometer integrated system during GNSS outages, without additional equipment. More specifically, the MEMS INS and odometer are integrated based on an extended Kalman filtering (EKF), and then the location sampling points are entered into MM module based on trajectory segmentation criterion to predict the position and azimuth on the road network, and finally the error correction is completed through EKF. The main contribution of this study is to point out the essential cause of the position and velocity error drift of INS/OD system through observability analysis, and to suggest a novel hybrid strategy to integrate the MEMS INS, odometer based on both Kalman filtering and Map-Matching, which inhibits divergence through position and azimuth observation provided by map. The proposed navigation strategy is verified via road tests with artificial GNSS outages ,showing that the root mean square of azimuth angle error, horizontal velocity error and horizontal position error of the proposed navigation strategy decrease by 93.2%, 92.6% and 95.5% when the 200s GNSS interruption time is set.

Citation Download Citation

XvDong Gan, Shuang Du, and WenHui Yang "A MM-aided inertial navigation for land vehicle in GNSS-denied environment", Proc. SPIE 12257, 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022), 1225725 (1 August 2022); https://doi.org/10.1117/12.2639548

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