| 基于ESKF的GNSS/INS组合导航算法研究 |
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| 引用本文：唐遥芳.基于ESKF的GNSS/INS组合导航算法研究[J].计算技术与自动化,2025,(2):20-23 |
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| 中文摘要:介绍了基于ESKF算法的GNSS/INS组合实现流程，针对GNSS和IMU在导航定位时存在各自不足，使用了ESKF算法对GNSS/IMU进行融合估计，通过IMU数据进行系统状态预测，通过GNSS数据对校正系统状态进行校正。为了验证ESKF算法的可行性，在三种场景下进行了实地测试，实验结果显示，使用本算法估计的位置结果跟GNSS的观测结果保持一致，在GNSS无效和起伏路段也有较好的预测结果。 |
| 中文关键词:ESKF 组合导航 松耦合 航迹推算 |
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| Research on GNSS/INS Integrated Navigation Algorithm Based on ESKF |
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| Abstract:This paper mainly introduces the combined implementation process of GNSS/INS based on ESKF algorithm. In view of the shortcomings of GNSS and IMU in navigation and positioning, ESKF algorithm is applied to fusion estimation of GNSS/IMU. The system states are predicted by IMU data and corrected by GNSS data. In order to verify the feasibility of ESKF algorithm, field tests were carried out in three scenarios. The experimental results showed that the location results estimated by this algorithm were consistent with the GNSS observation results, and good prediction results were also obtained in invalid GNSS and unrolling road sections. |
| keywords:ESKF integrated navigation loosely coupled dead reckoning |
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