Accuracy Analysis of Several Common GNSS/INS Integrated Navigation System under Different Conditions
GNSS/INS integrated navigation system based on carrier phase difference is widely used in the field of mobile surveying and mapping,but the precision of integrated navigation parameters is greatly different because of satellite observation conditions,IMU level,filtering algorithm and processing software,which hinders the ac-curaies assessment of surveying and mapping operations and results.Aiming at the above problems,the precisions of integrated navigation parameters under different software,IMU levels,processing modes and environments are analyzed in detail by using the designed sports car experiment.The results show that the accuracies of different software and different processing modes are equal under good satellite observation conditions.From consumer level to tactical level and then to near navigation level,the navigation accuracy improvs gradually.Among them,the at-titude accuracy of consumer level IMU integrated navigation is 660″,roll and pitch accuracy is 60″,speed accura-cy is 2.5 cm/s,3D position accuracy is 3 cm.In urban areas,the accuracies of navigation parameters decreases on the whole,but the decrease is still in the same order.When the number of satellites is less than 4,the precision of tight combination positioning will decrease to meter level.
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