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An Online Smoothing Method Based on Reverse Navigation for ZUPT-Aided INSs

Published online by Cambridge University Press:  21 October 2016

Qingzhong Cai ,
Gongliu Yang ,
Ningfang Song ,
Jianye Pan  and
Yiliang Liu
Qingzhong Cai*
Affiliation:
(School of Instrument Science and Opto-electronics Engineering, Beihang University, Beijing, China)
Gongliu Yang
Affiliation:
(School of Instrument Science and Opto-electronics Engineering, Beihang University, Beijing, China)
Ningfang Song
Affiliation:
(School of Instrument Science and Opto-electronics Engineering, Beihang University, Beijing, China)
Jianye Pan
Affiliation:
(School of Instrument Science and Opto-electronics Engineering, Beihang University, Beijing, China)
Yiliang Liu
Affiliation:
(School of Instrument Science and Opto-electronics Engineering, Beihang University, Beijing, China)
*
(E-mail: qingzhong_cai@163.com)
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Abstract

Zero velocity update (ZUPT) is widely discussed for error restriction in land vehicle Inertial Navigation Systems (INSs) and wearable pedestrian INSs to overcome the problems of Global Positioning System (GPS) unavailability in urban canyons or indoor scenarios. In this paper, an online smoothing method for ZUPT-aided INSs is presented. By introducing the Rauch–Tung–Striebel (RTS) smoothing method into the ZUPT-aided INS, position errors can be effectively restrained not only at stop points but during the whole trajectory. By integrating reverse navigation with a ZUPT smoother, the method realises forward and real-time processing. Compared with existing approaches, it can improve the position accuracy in real time without any other sensors, which is well suited for applications on high-accuracy navigation in GPS-challenging environments. Accuracy test results with different Inertial Measurement Units (IMUs) show that the developed method can significantly decrease position errors from hundreds or thousands of metres to below ten metres. During the whole trajectory, the online smoothing method ensures the maximum position errors at non-stop points can reach the same level of accuracy at stop points. A delay test result proves that the delay of the reverse online smoothing method proposed in this paper is much shorter than existing online smoothing methods.

Keywords

Inertial navigationOnline smoothingReverse navigation algorithmZero velocity update
Type
Research Article
Information
The Journal of Navigation , Volume 70 , Issue 2 , March 2017 , pp. 342 - 358
Copyright
Copyright © The Royal Institute of Navigation 2016 

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