Low-Cost MEMS-IMU/RTK Tightly Coupled Vehicle Navigation System with Robust Lane-Level Position Accuracy

In order to improve the high-precision navigation and positioning capability of vehicles in harsh environments such as urban area, canyons and tunnels, where satellite signals are obstructed or even disconnected, a low-cost MEMS-IMU and RTK tightly coupled technology is used to achieve high-precision positioning of vehicles in centimeters. In this paper, the tightly coupled Kalman filter algorithm model and the kinematic constrained filtering scheme are deduced. Under the condition of short-time disconnection of satellite signals, combined with device error compensation and vehicle kinematics constraint assistance, the system can still achieve relatively high precision positioning result output.