The Validation and Performance Assessment of the Android Smartphone Based GNSS/INS Coupled Navigation System

The significant improvement of the performance of the GNSS and INS modules inside the smartphones, arising a great promotion of precise applications at the mass market. In order to validate the Android smartphone based GNSS/INS coupled navigation system, we developed the data acquisition platform for the GNSS and INS embedded inside the smartphones, which can synchronously collect the raw data from the two internal hardware. Then the corresponding processing software was developed. With the purpose of the assessment of the precision and stability for the proposed coupled navigation system, a terrestrial dynamic test was designed, and the Huawei latest smartphone “P40” in the year 2020 was taken during this test. The GNSS and INS data from the “Huawei P40” were synchronously logged through the model of “EMUI DESKTOP” by our developed app. Besides the smartphone, a high grade GNSS receiver Trimble R10 and the NovAtel IGM-A inertial navigation system were strapped in the same platform as the P40 smartphone, and the coupled navigation solutions as, position and the attitude obtained from the Trimble R10 GNSS and NovAtel IGM-A were taken as the references to assess the precision and stability of the proposed navigation system. The comparison results indicate that, the position differences with respect to the reference are around 0.2 m in the root mean square statistic, and the roll and the pitch are around 0.16°, and the yaw are around 1.7°, which means that, the high level performance of the coupled navigation system, based on the Android internal GNSS and INS modules can be witnessed.