Abstract
For Low-cost MSINS/GPS vehicle integrated navigation system, a real-time error correction algorithm is proposed in the paper, aiming at the problem that MSINS cannot meet the accuracy of the problem for a long time when GPS reduces location precision or even invalid. In the proposed algorithm, vehicle constraint information is introduced according to the incomplete constraint method of the carrier motion characteristics. The velocity errors are set to be observed quantity and is used to correct position errors. To verify the method, a simulation of the estimation of misalignment angles and position error is de-signed. And the results prove that this method can largely improve the accuracy of misalignment angles and position and ensure the continuity of vehicle navigation information.
This work is supported by The National Natural Science Foundation of China (Grant No.61471046).
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© 2016 Springer Science+Business Media Singapore
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Liu, SP., Li, Q. (2016). Research on Low-Cost MSINS/GPS Vehicle Integrated Navigation Error Correction. In: Zhang, L., Song, X., Wu, Y. (eds) Theory, Methodology, Tools and Applications for Modeling and Simulation of Complex Systems. AsiaSim SCS AutumnSim 2016 2016. Communications in Computer and Information Science, vol 643. Springer, Singapore. https://doi.org/10.1007/978-981-10-2663-8_56
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DOI: https://doi.org/10.1007/978-981-10-2663-8_56
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