An autonomous smartphone embedded inertial sensors aided vehicular navigation method in satellite-denied areas

An autonomous smartphone embedded inertial sensors aided vehicular navigation method is proposed in this study to solve the low accuracy of the embedded sensors and the indefinite installation angle between a smartphone and a vehicle in a smartphone-based vehicular navigation. First, the nonlinear MEMS-IMU model and nonlinear NHC model are derived, and analysis of the error generated by the traditional model under this case is conducted, proving the necessity of the nonlinear modeling in theory. Second, we establish the nonlinear integrated navigation scheme, the app is also implemented with the scheme on the Android platform. The satellite-denied simulation experiment verifies the accuracy of the proposed method is higher than that of the traditional method. The app performs well in the smartphone-based platform in the actual tunnel and underground parking lot tests.