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A Parameter Self-Calibration Method for GNSS/INS Deeply Coupled Navigation Systems in Highly Dynamic Environments.

Zang Chen1,2, Jizhou Lai3,4, Jianye Liu5,6

  • 1College of Automation Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China. chenzang@nuaa.edu.cn.

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Summary
This summary is machine-generated.

A new parameter self-calibration method for Global Navigation Satellite System/Inertial Navigation System (GNSS/INS) deeply coupled systems ensures stability. This method relates Inertial Measurement Unit (IMU) precision to velocity error, aiding in loop dynamic assessments.

Keywords:
deeply coupledhighly dynamic environmentsnormparameter self-calibration

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Area of Science:

  • Navigation Systems Engineering
  • Control Systems Theory
  • Signal Processing

Background:

  • Deeply coupled Global Navigation Satellite System/Inertial Navigation System (GNSS/INS) offer robust performance in dynamic environments.
  • Vehicle maneuvering significantly impacts Inertial Measurement Unit (IMU) performance, posing challenges for system stability.
  • Assessing IMU precision and receiver parameters against dynamic requirements is crucial for deeply coupled systems.

Purpose of the Study:

  • To introduce a novel parameter self-calibration method for GNSS/INS deeply coupled systems.
  • To establish a relationship between IMU precision and system velocity error using the norm principle.
  • To provide a method for calculating loop steady-state tracking error and assessing tracking loop stability.

Main Methods:

  • Development of a parameter self-calibration technique based on the norm principle.
  • Analysis of the correlation between IMU precision and GNSS/INS system velocity error.
  • Implementation of a digital simulation platform for validation.

Main Results:

  • The proposed method effectively links IMU precision to system velocity error.
  • A clear solution for calculating loop steady-state tracking error is provided.
  • Simulation results demonstrate good agreement with the proposed self-calibration method, validating its effectiveness.

Conclusions:

  • The novel self-calibration method enhances the stability assessment of GNSS/INS deeply coupled systems.
  • The method provides critical insights into the impact of IMU precision on navigation performance.
  • The findings support the reliable deployment of deeply coupled GNSS/INS in demanding operational scenarios.