Vehicle integrated navigation IMU mounting angles estimation method based on nonlinear optimization Article Swipe
Feifan Lin
,
Shiliang Wang
,
Yanping Chen
,
Mengqiang Zou
,
Hui Peng
,
Yu Liu
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.1088/1361-6501/ad1369
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.1088/1361-6501/ad1369
A vehicle integrated navigation system based on Global Navigation Satellite System (GNSS) aided Inertial Navigation System (INS) enhances its navigation accuracy by utilizing non-holonomic constraints and odometer velocity. However, the navigation accuracy of the system is compromised due to the challenges in the estimation of the inertial measurement unit (IMU) mounting angles relative to the host vehicle. This paper presents a method for estimating the IMU mounting angles of a vehicle that integrated navigation system through a nonlinear optimization. The proposed method firstly achieves the initial alignment of the vehicle integrated navigation system through a GNSS/INS loosely coupled algorithm. Then, the vehicle navigation algorithm is switched to the INS algorithm after collecting 100 satellite-fixed solutions. Finally, a nonlinear optimization objective function based on the difference between the satellite-fixed solutions and the INS integration results is constructed to solve for the IMU mounting angles. Experiments were conducted by using a Murata SCHA634 IMU on a land vehicle to validate the proposed method. This method has a reduction of approximately 30% in the three-dimensional positioning accuracy within error compared to that without mounting angles compensation, and a reduction of approximately 15% when compared with the traditional approach of compensating for IMU mounting angles using the error state Kalman filter method.
Related Topics
Concepts
Inertial measurement unit
GNSS applications
Odometer
Computer science
Inertial navigation system
Navigation system
Extended Kalman filter
Satellite system
Kalman filter
Computer vision
Artificial intelligence
Algorithm
Global Positioning System
Mathematics
Orientation (vector space)
Geometry
Telecommunications
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1088/1361-6501/ad1369
- OA Status
- hybrid
- Cited By
- 7
- References
- 41
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4389426605
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4389426605Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1088/1361-6501/ad1369Digital Object Identifier
- Title
-
Vehicle integrated navigation IMU mounting angles estimation method based on nonlinear optimizationWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
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2023Year of publication
- Publication date
-
2023-12-07Full publication date if available
- Authors
-
Feifan Lin, Shiliang Wang, Yanping Chen, Mengqiang Zou, Hui Peng, Yu LiuList of authors in order
- Landing page
-
https://doi.org/10.1088/1361-6501/ad1369Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
hybridOpen access status per OpenAlex
- OA URL
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https://doi.org/10.1088/1361-6501/ad1369Direct OA link when available
- Concepts
-
Inertial measurement unit, GNSS applications, Odometer, Computer science, Inertial navigation system, Navigation system, Extended Kalman filter, Satellite system, Kalman filter, Computer vision, Artificial intelligence, Algorithm, Global Positioning System, Mathematics, Orientation (vector space), Geometry, TelecommunicationsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
7Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 5, 2024: 2Per-year citation counts (last 5 years)
- References (count)
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41Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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