Abstract：In order to solve the problem of the accuracy reduction of the navigation system caused by the weak, intermittent, or interrupted satellite signals of the differential Beidou/SINS integrated navigation system in the airfield vehicle, we propose a high-precision integrated navigation method based on motion detection. The method is based on the differential Beidou/SINS integrated navigation system frame of motion detection, using the zero-velocity update and dynamic zero-velocity update to constrain the SINS errors according to the characteristics of the vehicle motion. We establish the state equation and measurement equation for optimal estimation of system errors, and realize the vehicle motion detection using gyro and accelerometer information of inertial measurement unit and the speed of SINS. We carry out vehicle experiments to verify the feasibility of the method. The results show that the positioning accuracy of Beidou/SINS integrated navigation system is better than 1 m when the satellite signal is valid. Compared to the traditional velocity constraint technology, the maximum longitude error of the integrated navigation system is reduced from 5.21 m to 1.35 m in the scene of 2.5 km satellite signal interruption.
HU Jie,WANG Zihui,ZHU Yixian. Differential Beidou/SINS Integrated Navigation for Airfield Vehicle Based on Motion Detection[J]. jgg, 2021, 41(4): 346-350.
