An algorithm for improving the convergence rate of attitude by using GPS heading angle in MEMSINS/GPS integrated navigation

摘要

For the poor performance of inertial measurement unit based on MEMS sensors, the attitude angles of MINS/GPS integrated navigation system drift rapidly, when the GPS signal is lost due to shelter from buildings or trees. System needs long time and large maneuvering to return to alignment as there are large misalignment angles of attitude when the GPS signal is retrieved. It leads to problem in practical applications. As we know, heading information can be calculated by GPS position signal, in this article, we present an algorithm that takes advantage of heading angle from GPS to shorten the time needed to retrieve alignment and discuss about the method's usage requirements. Simulation experiments with data collected from real road experiments show that the algorithm can rapidly improve the convergence rate of integrated navigation system's attitude. As its simplicity and no need to add other sensors, the algorithm is practical.