Aiming at the problem that global satellite navigation system (GNSS)/inertial navigation system (INS) integrated navigation can not fully utilize the inertial measurement unit (IMU) due to unreasonable parameter settings of the IMU, this paper proposes an IMU parameter setting and optimization scheme, establishing evaluation criteria based on the statistical result of the navigation drift errors in GNSS short-term outages, the consistency of theoretical estimation accuracy level, and the stability of IMU error parameter estimation, so that the optimized IMU parameters can ensure the accuracy of the state prediction covariance matrix in GNSS/INS integrated navigation solutions, enabling proper weighting between predicted and observed information.This guarantees the optimal performance of GNSS/INS integrated navigation.Field test verification and analysis are conducted using two typical micro-electro-mechanical system (MEMS) IMUs, ADIS16465 and ICM20602, representing automotive-grade and consumer-grade IMUs, respectively.The test results demonstrate that the initial IMU parameters have a low match with the GNSS/INS integrated navigation algorithm, leading to suboptimal results in the integrated navigation.On the other hand, the optimized IMU parameters proposed in this paper not only guarantee optimal performance of the integrated navigation but also achieve high consistency between the theoretical estimation accuracy and the actual accuracy.
Integrated navigation/inertial measurement unit (IMU)/parameter optimization/global navigation satellite system (GNSS)/weight allocation/inertial navigation system (INS)
维普
万方数据