A Modified Kalman Filter for Integrating the Different Rate Data of Gyros and Accelerometers Retrieved from Android Smartphones in the GNSS/IMU Coupled Navigation

Sensors

Qiuzhao Zhang¹  Changsheng Zhao²  Wenlin Yan²  Ying Mao²  Aisheng Wang²  Lijuan Wang² 

[1] School of Environment Science and Spatial Informatics, China University of Mining and Technology, No 1, Daxue Road, Xuzhou 221116, China;School of Geography, Geomatics and Planning, Jiangsu Normal University, 101 Rd. Shanghai, Xuzhou 221116, China;

关键词: GNSS/IMU coupled navigation;    Kalman filter;    android smartphones;    IMU;   

DOI  :  10.3390/s20185208

来源: DOAJ

【 摘 要 】

Recent study indicates that by using the inertial measurement unit (IMU) sensors inside smartphones, we can obtain similar navigation solutions to the professional ones. However, the sampling rates of the gyros and accelerometers inside some types of smartphones are not set in the same frequencies, i.e., the gyros of “Huawei p40” are in 50 Hz while the accelerometer is 100 Hz. The conventional method is resampling the higher frequency to the lower frequency ones, which means the resampled accelerometer will lose half frequency observations. In this work, a modified Kalman filter was proposed to integrate all these different rate IMU data in the GNSS/IMU-smartphone coupled navigation. To validate the proposed method, a terrestrial test with two different types of android smartphones was done. With the proposed method, a slight improvement of the attitude solutions can be seen in the experiments under the GNSS open-sky condition, and the obvious improvement of the attitude solutions can be witnessed at the simulated GNSS denied situation. The improvements by 45% and 23% of the horizontal position accuracy can be obtained from the experiments under the GNSS outage of 50 s in a straight line and 30 s in a turning line, respectively.

【 授权许可】

Unknown