W-Test Aided Quality Control Algorithm for GNSS/IMU Integrated Navigation in Urban Environments

摘要

Global Navigation Satellite Systems (GNSS) is often integrated with Inertial Measurement Unit (IMU) in order to improve the overall accuracy and reliability of the navigation system. The performance of the integrated system relies greatly on the quality of the GNSS measurement, however. In particular, contamination of GNSS measurements due to multipath interference and non-line-of-sight reception in urban environments affects the final performance of such integrated navigation. This paper therefore proposes two W-test aided quality control algorithms to achieve effective quality control for integrated GNSS/IMU navigation systems in urban areas. Each algorithm applies a different class of approach: i.e. the scoring strategy and the minimum error strategy. Experimental results showed that the solution with our proposed algorithms achieves the improvements of average 84% in horizontal positioning accuracy and 88% in vertical positioning accuracy compared with the pure IMU/GNSS solutions.