A novel vehicle navigation system based on MSINS

A new hybrid vehicle navigation system including Micro-Strapdown Inertial Navigation System (MSINS) and Global Position System (GPS) is proposed in this paper. MSINS is composed of micro mechanical gyro and accelerometer. In conventional GPS/ MSINS scheme, when GPS is not available, MSINS works alone, so the position error and velocity error rise quickly. In order to solve this problem, a new navigation scheme using the non-holonomic constraints for land vehicle applications is introduced. This method is effective to restrain the rising error and the average accuracy of position is less than 10 meter. The results of the simulation test and field test demonstrate the validity of this introduced navigation scheme.