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<p>Consumer-grade high-precision navigation has been seamlessly integrated into daily lives, catering to the mass market. How to realize reliable vehicle navigation under limited computing resources remains an important issue. Therefore, this work explores a lightweight vehicle navigation scheme that integrates global navigation satellite system (GNSS), inertial navigation system (INS), and odometer (OD). A tightly coupled integration of GNSS/INS/OD with precise point positioning real-time kinematic scheme, micro-electromechanical system-inertial measurement unit, and non-holonomic constraint (NHC) is used for reliable positioning in complex scenarios. Moreover, to overcome the inaccuracy problem of lateral velocity constraint provided by NHC when the vehicle turns, a novel method quantitatively describing the motion state and accordingly adjusting the noise is proposed. It fully utilizes raw sensor outputs and adjusts the noise associated with OD/NHC. Field tests and GNSS outage simulation tests are carried out. Results of the former tests demonstrate that, compared with the fixed noise OD-supported solution, the novel method improves north and east positioning RMS by (6.87%, 12.00%) and MAX by (32.42%, 39.07%). Besides, under GNSS outages, the method achieves improvements of 26.81%/29.57% in 3D RMS/MAX compared to the fixed noise OD-supported solution.</p>

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Integration of GNSS/INS/OD with PPP-RTK scheme and self-adaptive OD/NHC noise adjustment for vehicle navigation

  • 期刊论文

  • 发表日期：

    2025年6月25日

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  • Shengfeng Gu,
  • Zihao Wang,
  • Jiayu Hu,
  • Weiwei Song

摘要

Consumer-grade high-precision navigation has been seamlessly integrated into daily lives, catering to the mass market. How to realize reliable vehicle navigation under limited computing resources remains an important issue. Therefore, this work explores a lightweight vehicle navigation scheme that integrates global navigation satellite system (GNSS), inertial navigation system (INS), and odometer (OD). A tightly coupled integration of GNSS/INS/OD with precise point positioning real-time kinematic scheme, micro-electromechanical system-inertial measurement unit, and non-holonomic constraint (NHC) is used for reliable positioning in complex scenarios. Moreover, to overcome the inaccuracy problem of lateral velocity constraint provided by NHC when the vehicle turns, a novel method quantitatively describing the motion state and accordingly adjusting the noise is proposed. It fully utilizes raw sensor outputs and adjusts the noise associated with OD/NHC. Field tests and GNSS outage simulation tests are carried out. Results of the former tests demonstrate that, compared with the fixed noise OD-supported solution, the novel method improves north and east positioning RMS by (6.87%, 12.00%) and MAX by (32.42%, 39.07%). Besides, under GNSS outages, the method achieves improvements of 26.81%/29.57% in 3D RMS/MAX compared to the fixed noise OD-supported solution.