A Novel Design of Micro-Motor Based Rotational MEMS-INS/Dead Reckoning Increment Integrated Navigation System in Satellite-Denied Environments

This study investigates a novel micro-motorbased rotational microelectromechanical (MEMS)-inertial navigation system (INS)/dead reckoning increment integrated navigation system for satellite-denied areas. First, a micro-motorbased rotational MEMS-INS is designed to improve the azimuth accuracy. Signals of IMU, encoder, and odometer are synchronized through the CAN bus for calculation. Second, a rotational MEMS-INS/odometer (OD) error model based on attitude demodulation is derived to suppress the attitude errors in the rotation modulation process. Then, a dead reckoning increment measurement model is proposed to solve the problem of outlier measurement caused by the vehicle's slipping and skidding during the rotation modulation process. Experimental results show that positioning accuracy reaches 0.11%D even in poor road conditions (vehicles are prone to skidding and sideslipping) using the proposed integrated navigation algorithm. The designed scheme can be used as an autonomous navigation system for lane-level navigation in satellite-denied environments