A mounting-attitude estimation algorithm for low-cost vehicle IMU

doi:10.13474/j.cnki.11-2246.2020.0183

Abstract

Abstract: The mounting-attitude values of IMU to vehicle is a necessary condition for applying the non-holonomic constraints of vehicle, and such constraints can effectively solve the problem of precision reducing of the low-cost INS/GNSS integrated navigation system, when the GNSS signal is interrupted for a long time. This paper proposes an algorithm for estimating the mounting-attitude of the low-cost consumer-grade IMU based on Kalman filtering and particle filtering in the scene of vehicle, which does not need to limit that the attitude of the IMU to the vehicle is a small angle. Subsequently, based on the simulation platform, a low-cost consumer-grade IMU is modeled, and the algorithm is verified by using the generated IMU data of different sets of different mounting-attitude. Finally, an on-board test was conducted. Both the simulation results and the on-board test results show that the algorithm can accurately estimate the mounting-attitude of the IMU relative to the vehicle, which has a practical significance for the improvement of precision of low-cost INS/GNSS integrated navigation system.

Key words: mounting-attitude, non-holonomic constraints of vehicle, Kalman filtering, particle filtering, integrated navigation

CLC Number:

P228

FENG Muju, GAO Di, HE Wentao. A mounting-attitude estimation algorithm for low-cost vehicle IMU[J]. Bulletin of Surveying and Mapping, 2020, 0(6): 67-70.

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