DESIGN AND EVALUATION OF GNSS/INS TIGHTLY-COUPLED NAVIGATION SOFTWARE FOR LAND VEHICLES

Abstract. Due to the development of society, the city center is full of high-rise buildings and the traffic becomes increasingly convenient; accordingly, there is a high demand for high-precision savigation in such areas. This paper studied the GNSS/Inertial Navigation System (INS) integrated navigation algorithm and developed software that can process GNSS data and IMU data. To verify the positioning performance of the algorithm, we collect the data of onboard GNSS and IMU in an urban environment and compare the results of GNSS positioning and GNSS/INS tightly-coupled navigation. The horizontal and 3D positioning accuracy of GNSS/INS tightly coupling is better than 0.8 m and 1.2 m, respectively. Compared to GNSS, the 3D and horizontal position precision of GNSS/INS tightly coupling improved by 17.4 % and 54.9 %, respectively. It proves that the GNSS/INS tightly-coupled navigation can provide higher-precision and more robust positioning results.