Application Research of In-vehicle SINS/GNSS Integrated Navigation Algorithm

This paper mainly studies the application of in-vehicle SINS/GNSS loosely coupled navigation algorithm. The SINS attitude update, velocity update, and position update equations are derived. The research designs SINS/GNSS loosely coupled filter by combining the SINS error model and the Kalman filter model. The vehicle navigation experiment is carried out. The results show that the accuracy of SINS/GNSS loosely coupled integration is significantly better than the pure inertial navigation solution.