Chapter 63 Development and Evaluation of GNSS/INS Data Processing Software

摘要

Currently there is less mature and reliable commercial software for GNSS/INS data processing in China. Relevant users have to rely on foreign software, e.g., POSPac and Inertial Explorer (IE). This has become one of the bottle-neck of applying GNSS/INS technology to survey and mapping areas in China. This paper introduces newly developed GNSS/INS data processing software-Cinertial. In the design of the algorithm, the local level frame is chosen as the reference frame; and the rotation vector is applied for the attitude update. The GNSS and INS information are fused by a Kalman filtering based on 21-dimensional error states vector. Moreover, Rauch-Tung-Striebel (RTS) backward smoothing algorithm is applied in the software to help ensure the best possible accuracies. The correctness of the developed software is tested and evaluated by the airborne and terrestrial datasets compare to IE and POSPac. The results show that Cinertial can reach the same level of the navigation accuracy as foreign commercial software.