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Research On Dual-Antenna Gnss-Assisted Mins Navigation Method, Hailu Wang, Su Zhong, Liu Ning, Liu Hong, Guodong Fu
Research On Dual-Antenna Gnss-Assisted Mins Navigation Method, Hailu Wang, Su Zhong, Liu Ning, Liu Hong, Guodong Fu
Journal of System Simulation
Abstract: For the integrated navigation system of the single-antenna GNSS-assisted MEMS strap-down inertial navigation system (MINS), the heading angle divergence is invalid when the vehicle is stationary and linear motion, and the error is large. The method of the dual-antenna GNSS-assisted MINS integrated navigation based on EKF is proposed. The error state model is established, and the extended Kalman filter combined filter (EKF) algorithm is designsed for simulation verification. The driving test is carried out by comparing the high-precision SPAN-CPT. The results show that the yaw angle and pitch angle accuracy are 0.2 RMS, 0.3 RMS, which can be used …