A Multimode GNSS/MIMU Integrated Orientation and Navigation System

This paper puts forward a multimode GNSS/MIMU integrated orientation and navigation system. The system consists of a rotary module, a GNSS board, a MIMU and a navigation computer. The motor drives multimode GNSS dual-antenna and MIMU driving. The extended Kalman filter with 17-dimension state vector fuses multimode GNSS ephemeris, carrier phase, velocity and position information, giving optimum estimate of the system's navigation parameters. The static experiment and dynamic experiment results show that the horizontal attitude error is less than 0.1° (1σ), the heading error is less than 1°(1σ).