A Flexible Simulation and Design Environment for IMU/GNSS Sensors Integration

摘要

Due to the complexity of stochastic random errors of inertial measurements units (IMU) and Global Navigation Satellite Systems (GNSS), the design of IMU/GNSS fusion filters is challenging. Conventional approaches collect IMU/GNSS data and tune filter parameters against a ground-truth trajectory. However, this process does not verify the ability of the integration filter to correctly estimate hidden errors of sensors. Another challenge is the design of different dynamic models and error models for different moving platforms. To test a dynamic model, linearization and approximation of the dynamic model are commonly performed manually. This conventional design method is not flexible and prone to errors. To address these design challenges, this paper introduces a flexible simulation and design environment for IMU/GNSS integration. A MATLAB implementation of the environment is given. While the current implementation of the environment is handling IMU/GNSS integration for vehicular dynamic models, other dynamic models and additional sensors can be easily integrated in the environment.