Research on Vehicle Navigation System Based on Low-Cost Sensors

Although the vehicle navigation system based on GNSS/MIMU can effectively improve the reliability and precision of the single navigation system, its application is still restricted by many problems such as expensive equipment, unstable satellite signals and other issues. In order to solve these problems, a vehicle navigation system based on low-cost sensors is designed in this paper. Firstly, the hardware platform of vehicle navigation system based on microcontroller, low-precision MIMU and low-cost GNSS receiver is designed. Then, the model of sensor's error, navigation system's error and vehicle velocity constraint is analyzed, and a vehicle navigation algorithm with dual modes is proposed. When satellite signal is valid, the navigation system works at GNSS/SINS integrated navigation mode based on Kalman filter. While the GNSS is unable to provide navigation information the system switches to SINS mode with the constraint of vehicle velocity. Finally, the feasibility and practicability of vehicle navigation system designed in the paper is verified by vehicle test. The results show that the dynamic accuracy of horizontal position is better than 1.5 meters, the dynamic accuracy of horizontal attitude is better than 0.2 degrees, the dynamic accuracy of azimuth attitude is better than 1.5 degrees and the dynamic accuracy of velocity is better than 0.15 meters per second. In addition, this system can work on the situation of satellite short-term failure, so as to meet the requirements of vehicle navigation in changeable driving environment.