ARIMA assisted low-cost MEMS-INS/GNSS integrated navigation in GNSS denial environment

Abstract

Global Navigation Satellite System (GNSS) and low-cost Inertial Navigation System (INS) is commonly used in fields such as vehicle navigation. However, when the carrier is in a GNSS rejection environment, the navigation accuracy rapidly decreases and cannot meet the positioning accuracy requirements. Therefore, this paper uses the Autoregressive Integrated Moving Average model (ARIMA) to learn the positioning information of GNSS during normal operation, output predictive values in the case of GNSS unavailable, and fuse them with the MEMS-INS mechanical arrangement results through Kalman filtering. Vehicle experiments show that the proposed algorithm significantly improves the navigation performance compared to traditional GNSS/INS integrated navigation, reducing the maximum position error in the east and north directions by 76.4% and 69.2%, respectively, and increasing the root mean square error of position accuracy in the east, north, and up directions by an order of magnitude.