Simulation Analysis for the Influences of Vehicle Maneuvers to the Attitude Estimations of GNSS/INS Navigation Systems

摘要: GNSS/INS integrated navigation systems can be used as a positioning and orientation system (POS) to provide high precision attitude position in Mobile Mapping Systems (MMS). The (roll, pitch, yaw) errors will diverge with time when the vehicle is moving low dynamics (e.g. no changes of acceleration), which makes estimation weakly observable. This one dominant error source POS applications. It mitigated by making corresponding maneuvers make states In this paper, influences different are analyzed through simulation method. Results have shown that motion time-varying angular rates or accelerations enhance yaw estimation, while uniform circular not useful for estimation. outcomes paper reference design MMS vehicles maintain accuracy POS.