An attitude determination algorithm by integration of inertial sensor added with vision and multi-antenna GNSS data

Abstract

Aim to the question that GNSS cannot directly observe positioning and attitude information using the GNSS/INS integrated system, especially in the bad condition of GNSS signal, positioning and orienting based on satellites are both difficult to use. This chapter establishes the vision/multi-antenna GNSS attitude determination/inertial integrated navigation system, taking inertial error propagation model as the navigation model, the positioning and attitude information of multi-antenna GNSS and visual navigation information as a combination of measurements, achieving high precision integrated navigation using multi-scale extended Kalman filter. The vehicle-mounted integrated navigation test verified that the heading of this system has an accuracy of 0.243°, providing an attitude determination algorithm by integration of inertial sensor added with camera, and multi-antenna GNSS in the denied environment of satellite.