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Research on Low-Cost Attitude Estimation for MINS/Dual-Antenna GNSS Integrated Navigation Method.

Hailu Wang1, Ning Liu2, Zhong Su3,4

  • 1University of Beijing Information Science & Technology Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing 100101, China. whl41017@163.com.

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Summary

This study presents a low-cost, high-precision navigation system for unmanned vehicles by combining dual-antenna Global Navigation Satellite System (GNSS) with Micro-electromechanical Systems-Inertial Navigation System (MINS). The integrated system significantly improves accuracy for velocity, position, and attitude angles.

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Extended Kalman Filtering (EKF)Global Navigation Satellite System/Micro-electromechanical Systems-Inertial Navigation System (GNSS/MINS) integrationLow-costattitudedual-antenna

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Area of Science:

  • Robotics and Autonomous Systems
  • Navigation and Control Systems
  • Sensor Fusion Technology

Background:

  • High-precision navigation is crucial for unmanned vehicles.
  • Existing high-precision sensors are often prohibitively expensive.
  • There is a need for cost-effective, accurate navigation solutions.

Purpose of the Study:

  • To propose a low-cost, high-precision navigation system for unmanned vehicles.
  • To integrate dual-antenna Global Navigation Satellite System (GNSS) with Micro-electromechanical Systems-Inertial Navigation System (MINS).
  • To enhance navigation accuracy by leveraging dual-antenna GNSS data.

Main Methods:

  • A novel combination method using dual-antenna GNSS and MINS was developed.
  • Extended Kalman Filtering (EKF) was employed for data fusion.
  • The system was implemented on an ARM+FPGA platform.
  • Static and dynamic tests were conducted using a SPAN-CPT reference system.

Main Results:

  • The integrated GNSS/MINS system demonstrated improved accuracy in velocity, position, and attitude angles.
  • Yaw angle accuracy reached 0.2° RMS.
  • Pitch angle accuracy achieved 0.3° RMS.
  • Feasibility was verified through simulations and real-world testing.

Conclusions:

  • The proposed dual-antenna GNSS/MINS integration offers a cost-effective solution for high-precision navigation.
  • This method significantly enhances the accuracy of unmanned vehicle navigation systems.
  • The system is suitable for deployment in unmanned vehicles requiring precise positioning and orientation.