A Low-cost Underground Garage Real-time Navigation Algorithm based on the RISS and GPS System

It is well known that the vehicle's underground garage is positioned and navigated in a special case of dual mode characteristics. The Global Positioning System(GPS) navigation mode is cut off after vehicles enter the underground garage. Consequently, multi-sensor integrated navigation is more suitable for navigation applications in such complicated situations. The Reduced Inertial Sensor System(RISS) is a small algorithm that calculates the attitude and position of the current platform using only three Micro-Electro-Mechanical System(MEMS) inertial devices. Compared with the traditional Extended Kalman Filter(EKF) combined navigation EKF algorithm, RISS is more compact and requires fewer sensors. However, the algorithm has low positioning accuracy and cannot join the EKF algorithm for combined navigation. Therefore, the introduction of GPS heading data using the heading correction RISS divergence position data is the best positioning error compensation means.