Abstract
Aim to the question that GNSS cannot directly observe positioning and attitude information using the GNSS/INS integrated system, especially in the bad condition of GNSS signal, positioning and orienting based on satellites are both difficult to use. This chapter establishes the vision/multi-antenna GNSS attitude determination/inertial integrated navigation system, taking inertial error propagation model as the navigation model, the positioning and attitude information of multi-antenna GNSS and visual navigation information as a combination of measurements, achieving high precision integrated navigation using multi-scale extended Kalman filter. The vehicle-mounted integrated navigation test verified that the heading of this system has an accuracy of 0.243°, providing an attitude determination algorithm by integration of inertial sensor added with camera, and multi-antenna GNSS in the denied environment of satellite.
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Li, F., Jia, X., Zhou, Y., Dong, M., Chen, C. (2017). An Attitude Determination Algorithm by Integration of Inertial Sensor Added with Vision and Multi-antenna GNSS Data. In: Sun, J., Liu, J., Yang, Y., Fan, S., Yu, W. (eds) China Satellite Navigation Conference (CSNC) 2017 Proceedings: Volume II. CSNC 2017. Lecture Notes in Electrical Engineering, vol 438. Springer, Singapore. https://doi.org/10.1007/978-981-10-4591-2_37
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DOI: https://doi.org/10.1007/978-981-10-4591-2_37
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