ISPRS-Archives The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences ISPRS-Archives Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci. 2194-9034 Copernicus Publications Göttingen, Germany 10.5194/isprs-archives-XLVI-3-W1-2022-213-2022 DESIGN AND EVALUATION OF GNSS/INS TIGHTLY-COUPLED NAVIGATION SOFTWARE FOR LAND VEHICLES Wen Z. C. 1 Li Y. 2 3 Guo X. L. 2 Zhang X. X. 4 China University of Geosciences, Beijing, China State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan, China Hubei Luojia Laboratory, Wuhan, China Chinese Academy of surveying and mapping, Beijing, China 22 04 2022 XLVI-3/W1-2022 213 218 Copyright: © 2022 Z. C. Wen et al. 2022 This work is licensed under the Creative Commons Attribution 4.0 International License. To view a copy of this licence, visit https://creativecommons.org/licenses/by/4.0/ This article is available from https://isprs-archives.copernicus.org/articles/XLVI-3-W1-2022/213/2022/isprs-archives-XLVI-3-W1-2022-213-2022.html The full text article is available as a PDF file from https://isprs-archives.copernicus.org/articles/XLVI-3-W1-2022/213/2022/isprs-archives-XLVI-3-W1-2022-213-2022.pdf

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.