Quantitative Analysis of Sensor Errors and Disturbance Compensation Strategies for Combined Navigation Systems in Dynamic Scenarios

Abstract

. In vehicle-carried dynamic situations, because of Global Navigation Satellite System (GNSS) signal disappearance and temperature shift errors inside the Micro-Inertial Measurement Unit (MIMU), the positioning precision of combined navigation systems often experiences big reduction, which becomes one of the core difficulties to realize high-reliability intelligent driving. To deal with this problem, this research mainly uses a loose coupling structure that integrates GNSS, Strapdown Inertial Navigation Systems (SINS) and Odometry (OD), and applies adaptive algorithms like Interactive Multi-Model (IMM) to carry out multi-source information fusion. Multi-sensor fusion and intelligent error compensation technologies are two vital methods for integrated navigation systems. This review shows that their combined application can strongly improve the accuracy and robustness of these systems, especially in dynamic environments. Hence, this provides an important technical direction for the engineering realization of this technology.