Optimizing INS/GNSS/UWB Integrated Vehicle Collaboration Navigation Based on Performance Analysis Under Crowded environments

Vehicle to infrastructure collaboration is an important component of unmanned cluster collaborative positioning system. With the continuous improvement of mission target, the requirements for the accuracy and fault tolerance of vehicle collaborative positioning are getting higher. However, under the environment of crowed building groups that the GNSS signals are blocked, which affects the accuracy and performance of navigation and positioning. In this paper, the UWB is introduced to collaborate with the INS/GNSS integrated navigation system, and a collaboration strategy is designed to improve both the navigation performance and the efficiency of system resource. Simulation results show that the proposed INS/GNSS/UWB collaboration system improves the positioning precision significantly in the situation of bad observation in crowed environments.