Research of Fast Relocation Technology Assisted by IMU in the GPS/SINS Ultra-Tightly Coupled Navigation System

摘要

For a scalar-based GPS receiver, it can cost several seconds for thernreceiver to relocation after the signal blockage. In this paper, a low-costrnMEMS IMU aided fast relocation algorithm is proposed, implemented andrntested in a DSP/FPGA based hardware prototype and it is composed of twornparts. The part one is the SINS aided multi-channel quick reacquisitionrnalgorithm which can reduce the search time especially in high dynamicrnenvironments. The part two is a low-cost MEMS IMU aided fast framernsynchronization algorithm. In this part, the time information from a localrntimer of DSP combined with the position information from the SINS andrnephemeris are used for calculating the frame counts. Finally, severalrnscenarios are used to test and evaluate the performance of the algorithm.rnThe results demonstrate that the low-cost MEMS IMU aided fast relocationrnalgorithm (IAFRA) can largely reduce the receiver relocation timerncomparison of the normal algorithm.