When the vehicle is in the process of moving, the GNSS signals may be unlocked or lost star which will make GNSS/INS integrated navigation system not reliable enough for driving. To solve this problem, I put forward a kind of vehicular integrated navigation scheme constructed by GNSS, INS and vehicle kinematics model. This integrated navigation strategy depends on GNSS information to determine the condition: when GNSS information is available, it will use GNSS aided inertial navigation system; When the GNSS information is invalid, the kinematics model and constraint condition of the vehicle aided inertial navigation system will start to work; The results of simulation show that this method can provide high precision position information speed when GNSS information is valid, and the position error can be effectively suppressed when GNSS failure, which will ensure the precision, reliability and continuous of navigation information of vehicle navigation system.
GNSS/INS/VKM Vehicle Integrated Navigation System
2014
10 Seiten
Conference paper
English
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