A Parameter Self-Calibration Method for GNSS/INS Deeply Coupled Navigation Systems in Highly Dynamic Environments

The GNSS/INS (Global Navigation Satellite System/Inertial Navigation System) navigation system has been widely discussed in recent years. Because of the unique INS-aided loop structure, the deeply coupled system performs very well in highly dynamic environments. In practice, vehicle maneuvering has a big influence on the performance of IMUs (Inertial Measurement Unit), and determining whether the selected IMUs and receiver parameters satisfy the loop dynamic requirement is still a critical problem for deeply coupled systems. Aiming at this, a new parameter self-calibration method based on the norm principle is proposed which explains the relationship between IMU precision and the velocity error of the system; the method will also provide a detailed solution to calculate the loop steady-state tracking error, so it will eventually make a judgment about the stability of the tracking loop under present system parameter settings. Lastly, a full digital simulation platform is set up, and the results of simulations show good agreement with the proposed method.