Development of a Low-Cost INS/GNSS/Odometer Integration Algorithm for a Road Surface Testing Laboratory Software

Navigation equipment of a road surface testing vehicle (car) includes a strapdown inertial navigation system (INS), a global navigations satellite system (GNSS) receiver and an odometer. In this work we analyse a low-cost INS for using in the vehicle navigation equipment. An INS/GNSS/odometer integration algorithm was developed and applied to postprocessing data collected from a typical testing survey. The computed integrated navigation solution was compared with a reference solution provided by a NovAtel navigation system. The reference navigation system consisted of a tactic-grade strapdown INS, an odometer and two high precision GNSS receivers operating in the differential mode. Numerical results presented in the paper show that the low-cost INS/GNSS/odometer integration allows to determine the vehicle position in an urban area with an accuracy of 1 m and the roll and pitch angles with an accuracy of 0.1° that satisfy accuracy requirements.