Implementation of ZUPT Aided GNSS/MEMS-IMU Deeply Coupled Navigation System

Deeply Coupled Navigation System of the Global Navigation Satellite System (GNSS) and the Inertial Navigation System (INS) is able to provide reliable navigation service under GNSS degraded environment. However, the MEMS Inertial Measurement Unit (IMU) leads to dead reckoning bias that quickly grow with time, seriously reducing the performance of the GNSS/MEMS-IMU deeply coupled navigation system. In this paper, a ZUPT aided GNSS/MEMS-IMU deeply coupled architecture is proposed and implemented. The accumulated error of INS can be constrained by ZUPT effectively without any auxiliary sensors. Outdoor experimental results show that the ZUPT algorithm can improve the tracking accuracy of code and carrier in GNSS/MEMS-IMU deeply coupled navigation system.