A novel rapid initial alignment algorithm for vehicular low-cost MEMS gyroscope

doi:10.13474/j.cnki.11-2246.2020.0250

Abstract

Abstract: In vehicle navigation system, the global satellite navigation system (GNSS) is commonly combined with inertial measurement unit (IMU) to improve the system stability. Due to the limitation of application scenarios, there is a higher requirement for the initial alignment speed in vehicle navigation systems. In order to improve the speed of initial alignment algorithm for low-cost micro-electro-mechanical system (MEMS) gyroscope used in vehicle navigation system, and reduce the calculation capacity, this paper puts forward a new method for MEMS gyroscope initial alignment based on network real time kinematics (RTK) assistance and unscented Kalman filter (UKF). Based on the features of vehicle navigation, it is simplified the gyroscope error model and analyzed the error caused by the simplification. The algorithm is tested on the vehicle navigation system composed by NovAtel ProPak6 GNSS receiver and NovAtel IMU-IGM-S1. Using heading angle calculated by dual-antenna GNSS receiver as ground truth, the proposed algorithm can be finished in 5 s and the heading angle accuracy is 0.3°.

Key words: initial alignment, micro-electro-mechanical system (MEMS), vehicle navigation, network RTK, IMU

CLC Number:

P228

BAI Zhengdong, XIN Haohao, CHENG Yuhang, CHEN Bobo, LI Qi. A novel rapid initial alignment algorithm for vehicular low-cost MEMS gyroscope[J]. Bulletin of Surveying and Mapping, 2020, 0(8): 65-70.

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A novel rapid initial alignment algorithm for vehicular low-cost MEMS gyroscope

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