Research on GNSS INS & GNSS/INS Integrated Navigation Method for Autonomous Vehicles: A Survey

Autonomous Vehicles have become the focus of research around the world. Meanwhile, the continuous development of various emerging technologies in recent years has paved the way for the realization of fully autonomous driving. Furthermore, high-precision navigation and positioning systems are crucial to self-driving cars. For navigation and positioning technology of autonomous vehicles, Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) integrated navigation is of great significance to realizing high-precision navigation and positioning of autonomous vehicles. This paper researches and summarizes the development and current situation of GNSS, INS, and GNSS/INS integrated navigation technology. GNSS/INS integrated navigation algorithms are divided into four different models of combination methods: Ultra tightly Coupled, Tightly Coupled, Semi-tightly Coupled, and Loosely Coupled. Besides, the advantages and disadvantages of these four integrated navigation algorithms are compared and discussed. The characteristics of different GNSS/INS coupling models are summarized in the last chapter, and the potential research direction of GNSS/INS in the future is proposed.