Online Estimation of the Mounting Angle and the Lever Arm for a Low-Cost Embedded Integrated Navigation Module

Author:

Wang Qinghai1,Yan Peihui12ORCID,Jiang Jinguang134ORCID,Xie Dongpeng1,Li Yuying1,Zheng Qiyuan1ORCID,Tan Hongbin1,Wu Jiaji1

Affiliation:

1. GNSS Research Center, Wuhan University, Wuhan 430079, China

2. Wuhan University Student Engineering Training and Innovation Practice Center, Wuhan University, No. 129 Luoyu Road, Wuhan 430079, China

3. Hubei Luojia Laboratory BDS Chip Research Center, No. 129 Luoyu Road, Wuhan 430079, China

4. School of Microelectronics, Wuhan University, Wuhan 430079, China

Abstract

Multi-source fusion constitutes a research focus in the navigation domain. This article focuses on the online estimation of the mounting angles between the body frame and vehicle frame within low-cost embedded vehicle navigation modules and the lever arm between the global satellite navigation system (GNSS) antenna/odometer and the inertial measurement unit (IMU). An online mounting angle error estimation algorithm, using odometers and IMU speeds, has been developed to estimate the angle errors while vehicles are in motion. At the same time, an online estimation algorithm model for the GNSS antenna lever arm and odometer lever arm was constructed. These two types of lever arms are used as the estimated states, and then Kalman filters are used to estimate them. The algorithm can simultaneously estimate the IMU mounting angle error, GNSS antenna arm, and odometer arm online. The experimental outcomes demonstrate that the lever arm estimation algorithm presented herein is effective for tactical and MEMS-level inertial navigation, with an estimation error of less than 2 cm. Meanwhile, the proposed online estimation of the mounting angle algorithm has an accuracy comparable to that of the post-processing algorithm. After making up the mounting angle and lever arm, we found that the position and speed precision of the multi-source fusion navigation systems were significantly improved. The results indicate that the proposed online estimation of mounting angle error and lever arm algorithm are effective and may promote the practical and widespread application of integrated navigation systems in vehicles. It solves the shortcomings of traditional methods, including the cumbersome and inaccurate manual measurement of the lever arm. It provides a technical solution for developing a more accurate and convenient low-cost vehicle navigation module.

Funder

National Key Research and Development Program of China

Publisher

MDPI AG

Reference35 articles.

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