A Collaborative Navigation System Based On Automated Ground Vehicle With Dual Micro-Inertial-Navigation System

To meet the high reliability and high accuracy requirements of the navigation system in an autonomous vehicle, the inertial navigation system (INS) must be able to provide high- precision navigation data for a certain period when external satellite navigation signals are disrupted or unavailable. The INS of the autonomous vehicle must be highly reliable and durable, capable of continuously stable operation for a certain period. To address these requirements, a single-axis/double-axis rotation modulated dual Micro-Inertial-Navigation Systems(MINS) is proposed. The single-axis rotation system serves as a backup configuration, meeting comprehensive requirements for positioning accuracy, reliability, and cost. By using combined rotation modulation, the relative attitude relationship between the two systems is altered, allowing for the estimation of the constant biases of both systems and achieving information fusion between the two systems. A designed joint Kalman filter leverages the complementary advantages of the two rotation modulated systems to obtain higher precision autonomous navigation information. Experimental results show that in the fault mode of the double-axis rotation INS, positioning error is reduced by 87%, significantly improving positioning accuracy when the main INS fails, while ensuring the overall high reliability of the navigation system.