Tightly coupled GNSS RTK/INS integration positioning based on MEMS IMU

doi:10.13474/j.cnki.11-2246.2024.0115

Abstract

Abstract: In order to improve the poor GNSS positioning stability in complex environment, a low-cost and high-precision positioning method with IMU assisting RTK for autonomous driving is proposed. MEMS IMU M39 and tactical IMU Pos320 are used in simulation experiments. Through simulating interruption of multiple groups of measured vehicle data, INS position drift error, ambiguity fixing time and fixing accuracy are obtained. The ambiguity fixing time and positioning accuracy under three conditions of no inertial navigation assistance, M39 assistance and Pos320 assistance are statistically and analyzed. The results show that M39 can assist RTK to achieve instantaneous ambiguity fixing with 5 s GNSS outage. When the outage is 10 s it still can reduce the convergence time of ambiguity to 1/4. Also, with assistance of MEMS IMU, the number of incorrect ambiguity is significantly reduced, and the proportion of high-precision positioning within 10 cm is increased from 62.25% to 98.44%. Experiments show that MEMS IMU assisted RTK can accelerate the speed of ambiguity fixing and improve the accuracy and reliability of navigation and positioning in autonomous driving.

Key words: integrated navigation, RTK/INS tightly coupled, MEMS IMU, carrier phase, ambiguity fixing

CLC Number:

P228

XIE Qing, ZHANG Quan, ZHANG Hongping, CHEN Dezhong, LI Zhijun, CUI Yulu. Tightly coupled GNSS RTK/INS integration positioning based on MEMS IMU[J]. Bulletin of Surveying and Mapping, 2024, 0(1): 89-95.

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