ASM330LHH和gps 做惯导

你好!请教一个问题,就是比如在隧道下针对车辆做惯导,基于ASM330LHH和gps的位置和速度航向(不要融合滤波)可以吗?有没有比较简单一些的算法呢? 目前就知道你们的开源惯导算法,个人数学不好,有没有简单一些的算法?
还有就是你们的算法好不好移植到103平台

  1. 隧道内怎么会有GPS测量呢?
  2. 如果有IMU和GPS,为什么不做融合?这应该是第一选择。
  3. 如果在隧道内,更多的做法是IMU+里程计。如果只用IMU,算法会较复杂,且效果没有IMU+里程计稳定可靠。
  4. 据我了解,在组合导航领域,简单又好用的算法是不存在的。

@Dong-xiaoguang 谢谢,就是3这种情况,那你们的ins 在隧道(没有gps的情况下)是怎么做的?

没有里程计的话,就把车体运动约束加进来:即车体本体坐标系的侧向和纵向的速度为0;
有里程计的话,结合上述的约束,车体前向速度来自于里程计。

@Dong-xiaoguang 嗯 好的,有没有IMU+里程计的资料可以共享呢

这个资料很多啊,比方说:Shin - 2001 - Accuarcy improvement of low cost INSGPS for land .pdf

@Dong-xiaoguang thanks very much!

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