An Enhanced, Real-Time, Low-Cost GNSS/INS Integrated Navigation Algorithm and Its Platform Design
Abstract
:1. Introduction
2. Materials and Methods
2.1. Observation Equation with Position Constraints
2.2. Observation Equation with Position and Velocity Constraints
3. Experimental Setting and Data Collection
4. Results
4.1. Error Compensation for Low-Cost IMUs
4.2. Ground Vehicle Experiment Analysis
4.3. UAV Onboard Experiment Analysis
5. Conclusions
- (1)
- The proposed algorithm platform is capable of real-time wireless transmission and processing of raw GNSS and IMU data. By integrating GNSS velocity information, it effectively mitigates the drift caused by low-cost inertial sensors, thereby improving the positioning accuracy of the integrated navigation system.
- (2)
- The improved software demonstrates enhanced positioning accuracy in both the horizontal and vertical directions. In the UAV experiments, the RMSE in the horizontal direction was reduced by up to 58 cm, representing an improvement rate of 15.38%. In the vertical direction, the RMSE was reduced by a maximum of 20 cm, with an improvement rate of 6.76%.
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Device | M22 | |
---|---|---|
gyroscope | Range (°/s) | ±300 (XY)/±460 (Z) |
Bias stability (°/h) | 5 | |
accelerometer | Range (g) | ±16 |
Bias stability (µg) | 50 | |
GNSS receivers | System and frequency | BDS: B1I/B2I/B3I/B2a GPS: L1/L2/L5 GALILEO: E1/E5a/E5b GLONASS: L1/L2 |
Price (yuan) | ¥8000 |
Data | Bias (m) | |||
---|---|---|---|---|
Horizontal Direction | Vertical Direction | |||
Before | After | Before | After | |
Group 1 | 2.98 | 2.82 | 2.38 | 2.37 |
Group 2 | 1.94 | 1.93 | 2.32 | 2.32 |
Group 3 | 2.27 | 2.23 | 2.74 | 2.71 |
Group 4 | 2.39 | 2.32 | 3.23 | 3.20 |
Group 5 | 2.23 | 2.19 | 3.61 | 3.60 |
Group 6 | 2.68 | 2.68 | 4.85 | 4.85 |
Data | RMSE (m) | |||
---|---|---|---|---|
Horizontal Direction | Vertical Direction | |||
Before | After | Before | After | |
Group 1 | 3.77 | 3.19 | 4.37 | 4.32 |
Group 2 | 2.05 | 2.03 | 2.37 | 2.36 |
Group 3 | 2.39 | 2.27 | 2.96 | 2.76 |
Group 4 | 2.54 | 2.43 | 3.37 | 3.24 |
Group 5 | 2.49 | 2.42 | 3.87 | 3.81 |
Group 6 | 2.80 | 2.79 | 4.95 | 4.95 |
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Wang, P.; Gao, Y.; Zhao, Q.; Wang, Y.; Zhou, F.; Zhang, D. An Enhanced, Real-Time, Low-Cost GNSS/INS Integrated Navigation Algorithm and Its Platform Design. Sensors 2025, 25, 2119. https://doi.org/10.3390/s25072119
Wang P, Gao Y, Zhao Q, Wang Y, Zhou F, Zhang D. An Enhanced, Real-Time, Low-Cost GNSS/INS Integrated Navigation Algorithm and Its Platform Design. Sensors. 2025; 25(7):2119. https://doi.org/10.3390/s25072119
Chicago/Turabian StyleWang, Pengcheng, Yuting Gao, Qingzhi Zhao, Yalong Wang, Feng Zhou, and Dengxiong Zhang. 2025. "An Enhanced, Real-Time, Low-Cost GNSS/INS Integrated Navigation Algorithm and Its Platform Design" Sensors 25, no. 7: 2119. https://doi.org/10.3390/s25072119
APA StyleWang, P., Gao, Y., Zhao, Q., Wang, Y., Zhou, F., & Zhang, D. (2025). An Enhanced, Real-Time, Low-Cost GNSS/INS Integrated Navigation Algorithm and Its Platform Design. Sensors, 25(7), 2119. https://doi.org/10.3390/s25072119