Chapter 68 Performance Evaluation of a Real-Time Integrated MEMS IMU/GNSS Deeply Coupled System

摘要

Compared with loosely coupled system and tightly coupled system, deeply coupled system could enhance the accuracy and the robustness of the receiver and the whole system. The real-time integrated deeply coupled system based on MEMS IMU can provide technical support for navigation service. This paper proposes an integrated MEMS IMU/GNSS deeply coupled system framework whose processing core is DSP + FPGA. In this paper the IMU aided tracking loop is modeled first, and then the error of the tracking loop is analyzed, the design of system's real-time is optimized. Tests results show that the system can operate consecutively in real-time conditions, and the IMU auxiliary information latency is less than 0.5 ms; the error of the tracking loop is greatly reduced; the dynamic tests results preliminarily verify the feasibility of the real-time integrated deeply coupled system.