A MEMS-INS error suppression method for vehicle navigation

When the navigation satellite signal is interrupted, the integrated INS/GNSS navigation system will be degraded to an independent INS navigation system. Without the assistance by other sensors, the error of the navigation solution will accumulate rapidly with time, which greatly reduces the availability of the navigation system. MEMS IMU is taken as the research object for vehicle navigation, and a method is proposed by converting the knowledge of dynamic models or physical conditions of land moving vehicles into measurement inputs for Kalman filter of integrated navigation systems to suppress the navigation errors based on vehicle velocity and motion state, and the corresponding algorithmic mode is constructed. The proposed method is tested by experimental data, and the experimental results show that both the velocity constraint model and the position constraint model based on vehicle motion can effectively reduce the error accumulation rate of vehicle navigation solutions, and improve the availability and reliability of vehicle MEMS INS independent navigation system.