Influence Analysis of IMU Scale Factor Error in GNSS/MEMS IMU Vehicle Integrated Navigation
Abstract Starting from the system state model, we analyze the influence of scale factor error on the calculation amount and accuracy of integrated navigation. At the same time, based on the characteristics of vehicle motion, we analyze the observability of the scale factor error, and propose a dimensionality reduction state model that only retains the scale factor errors of the heading gyroscope and horizontal accelerometer. The experiments show that: when the scale factor error is greater than 6×10-3, augmenting the scale factor error can help improve navigation accuracy, but the calculation amount increases by about 170%; the reduced-dimensional model can achieve the navigation accuracy of the high-dimensional model, and the calculation amount is only increased by about 70% compared to that without augmenting scale factor error.
Key words :
vehicle integrated navigation
MEMS IMU
scale factor error
state model
Kalman filter
Cite this article:
ZHANG Tisheng,WANG Guan,CHEN Qijin et al. Influence Analysis of IMU Scale Factor Error in GNSS/MEMS IMU Vehicle Integrated Navigation[J]. jgg, 2024, 44(2): 134-137.
ZHANG Tisheng,WANG Guan,CHEN Qijin et al. Influence Analysis of IMU Scale Factor Error in GNSS/MEMS IMU Vehicle Integrated Navigation[J]. jgg, 2024, 44(2): 134-137.
URL:
http://www.jgg09.com/EN/ OR http://www.jgg09.com/EN/Y2024/V44/I2/134
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