Analysis of the IMU precision's influence on the loop of deeply-coupled GNSS/INS navigation system in high-dynamic environment

As the frontiers research of GNSS/INS integrated technology, deeply-coupled system has attracted widely attention in recent years, which performs noticeably well under the environment of weak signal and high dynamic because of the unique INS-aided loop structure. However, the influence of IMU precision is rarely discussed, and how to select the appropriate inertial device to adapt the dynamic requirement is not clear. Aiming at this problem, a more accurate gyroscope error model considering dynamic effection is proposed firstly, and the relationship between IMU precision and the dynamic adaptability of scalar deeply-coupled system is analysed. In order to verify the correctness, a full digital simulation platform is constructed and the result of experiments shows that it agrees well with the proposed theory.