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Positioning accuracy and power consumption are essential performance indicators of integrated navigation and positioning chips. This paper proposes a single-frequency GNSS/MEMS-IMU/odometer real-time high-precision integrated navigation algorithm with dynamic power adaptive adjustment capability in complex environments. It is implemented in a multi-sensor fusion navigation SiP (system in package) chip. The simplified INS algorithm and the simplified Kalman filter algorithm are adopted to reduce the computation load, and the strategy of adaptively adjusting the data rate and selecting the observation information for measurement update in different scenes and motion modes is combined to realize high-precision positioning and low power consumption in complex scenes. The performance of the algorithm is verified by real-time vehicle experiments in a variety of complex urban environments. The results show that the RMS statistical value of the overall positioning error in the entire road section is 0.312 m, and the overall average power consumption is 141 mW, which meets the requirements of real-time integrated navigation for high-precision positioning and low power consumption. It supports single-frequency GNSS/MEMS-IMU/odometer integrated navigation SiP chip in real-time, high-precision, low-power, and small-volume applications.

Dynamic Adaptive Low Power Adjustment Scheme for Single-Frequency GNSS/MEMS-IMU/Odometer Integrated Navigation in the Complex Urban Environment