Smartphone GNSS/MEMS IMU Tightly-Coupled Integration Positioning Method for Vehicular Navigation in Urban Conditions

被引：0

作者：

Wang F. ^{[1
]}

Luan M. ^{[1
]}

Cheng Y. ^{[1
]}

Zhu H. ^{[1
]}

Zhao G. ^{[1
]}

Zhang W. ^{[1
]}

机构：

[1] School of Geodesy and Geomatics, Wuhan University, Wuhan

来源：

Wuhan Daxue Xuebao (Xinxi Kexue Ban)/Geomatics and Information Science of Wuhan University | 2023年 / 48卷 / 07期

关键词：

GNSS/MEMS IMU integrated navigation; smartphone; urban environment; vehicular navigation;

D O I：

10.13203/j.whugis20230010

中图分类号：

学科分类号：

摘要：

Objectives: Recognizing that the global navigation satellite system (GNSS) signals are seriously occluded in urban environments,it is a great challenge to achieve continuous and reliable positioning services via smartphones. Methods: An improved smartphone GNSS/micro-electro-mechanical system inertial measurement unit (MEMS IMU) tightly-coupled integration method for vehicular navigation is proposed. Specifically, the smartphone navigation system firstly conduct time updates with inertial navigation system mechanization algorithm. Then the measurement updates are realized by GNSS pseudorange, Doppler and headingangle derived by time differenced carrier phase, besides virtual constraints of vehicle motion. Results: Vehicular navigation experiments using three different smartphones were carried out to evaluate the performance of the proposed algorithm. The results show that continues and reliable positioning solutions are achieved in urbanchallenging environments with horizontal and vertical accuracy of 5-6 m and 5 m in terms of root mean square, and short-term continuous navigation is also available even in tunnel scenarios where GNSS signals are totally blocked. Conclusions: The proposed algorithm is less affected by the GNSS observation environment, and can improve the continuity and reliability of smartphone vehicular positioning greatly in urban complex environments. © 2023 Wuhan University. All rights reserved.

引用

页码：1106 / 1116

页数：10

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