Recent advances in MEMS IMUs give the potential to develop affordable low-end GNSS/INS systems for land vehicles navigation\r\n(LVN). To improve the performance of low-end GNSS/INS systems, we made detailed quantitative analysis to the computation\r\nterms of the INS navigation equation in regard to accuracy impacts and computation loads and then proposed a simplified INS\r\nalgorithm and adjusted the corresponding Kalman filter of GPS/INS integration. Comprehensive analysis was made to get the\r\nquantitative impacts of each simplified term. Results of road test have shown that the degradation of the navigation accuracy caused\r\nby the algorithmsimplification wasmuch less than that caused by the sensors errors of theMEMSIMU.Meanwhile, the computation\r\nload could be reduced by 70%with the simplified algorithm, and the reduction can go further to reach nearly 95% by downsampling\r\nIMU data rate simultaneously. Therefore, it is feasible to simplify the INS algorithm without losing accuracy and get benefits of\r\nreducing the computation load, which can further enhance the real-time performance of the navigation. The work has special\r\nsignificance for the applications that have limited processor resource and request strict real-time response, such as a deeply coupled\r\nGPS/INS receiver.
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