A Unified Coordinate Frame Method for GNSS/MEMS-INS Navigation System

For GNSS/MEMS - INS integrated navigation system, the traditional geographic coordinates of longitude, latitude, altitude as navigation parameters involving the floating point operation of angle is improper to be implemented practically. In this paper a unified coordinate transformation algorithm is presented .The N-coordinate reference frame is served as the reference navigation system. And improved combination algorithms is designed on engineering scenes. Which will reduce the complexity of the combination algorithm, decrease the amount of calculation and reduce the cost of engineering. The method has been tested successfully practically, based on real data and simulation of MEMS sensor and verified the feasibility and navigation accuracy of the algorithm.