An integrated land vehicle navigation system based on context awareness

摘要: In the complex urban environments, land vehicle navigation purely relying on GNSS cannot satisfy user needs due to loss of satellite signals caused by obstructions such as buildings, tunnels, and trees. To solve this problem, we introduce a GPS-/MSINS-/magnetometer-integrated system based context awareness. system, data from Micro Strapdown Inertial Navigation System (MSINS) are used analyze detect knowledge vehicles, whose sensor errors can be compensated heuristic drift reduction algorithm for different motion situations. When GPS is available, position estimated unscented Kalman Filter, whereas in case outages, attitude provided an heading reference constraints-aided complete positioning. experiment validation, integrated set up low-cost inertial sensors. The result shows that proposed achieve high accuracy when available. For most time without GPS, guarantee positioning precision 10 m compensate MSINS effectively, which fully satisfies environments.