This paper introduces the building method of loosely coupled GPS/INS integrated navigation system. The Euler angles estimation and the velocity constraints are used to improve accuracy. We use MATLAB/Simulink software to simulate and analyze data. The experimental system is built on a low-cost IMU with tri-axis gyroscope, accelerometer and magnetometer and a GPS module to verify the model algorithm. The update rate of the integrated system is equal to the INS rate of 100 Hz and the rate of GPS is 10 Hz. The data acquisition and processing system is performed on an ARM Cortex-M4 microcontroller. |
