| Citation: | LI C，SHEN Q，WANG L X，et al. Pseudo loosely-integrated navigation of low-cost MEMS-INS/GPS with insufficient observable satellites[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（4）：869-878 （in Chinese） doi: 10.13700/j.bh.1001-5965.2021.0131
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To solve the problem of accuracy maintenance of low-cost MEMS-INS/GPS integrated navigation under the condition of insufficient observable GPS satellites, a MEMS-INS/GPS pseudo loosely-integrated navigation method is proposed based on grey model and adaptive Kalman filter. In the framework of the proposed navigation mode, a state space model of integrated navigation system is established. Based on the MEMS-INS/GPS historical observation data, grey model is used to predict the difference between GPS and MEMS-INS, and this prediction is named system pseudo-observation. When the observable GPS satellites are sufficient, noise adaptive estimating Kalman filter is used for MEMS-INS/GPS integrated navigation; otherwise, this filter is used for MEMS-INS/GPS pseudo loosely-integrated navigation based on the system pseudo-observation. An example of low-cost MEMS-INS/GPS integrated vehicle navigation system is used in simulation and experimental verification. The results show that when the observable GPS satellites are insufficient, the traditional MEMS-INS/GPS loosely-integrated navigation decreases in accuracy rapidly and diverges, but the MEMS-INS/GPS pseudo loosely-integrated navigation is not significantly different from the normal GPS navigation in terms of accuracy, maintaining a high precision navigation state.
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