Page 13 - 《武汉大学学报（信息科学版）》2025年第10期

第 50 卷 第 10 期 武 汉 大 学 学 报（ 信 息 科 学 版 ） Vol.50 No.10
2025 年 10 月 Geomatics and Information Science of Wuhan University Oct. 2025

引文格式：王甫红,程雨欣,赵广越，等 . 智能手机 GNSS/MEMS IMU 车载组合导航的安装角估计算法[J]. 武汉大学学报（信息
科学版）,2025,50(10):1948-1956.DOI:10.13203/j.whugis20230381
Citation：WANG Fuhong, CHENG Yuxin, ZHAO Guangyue, et al. Mounting Angle Estimation Algorithm for Smartphone
GNSS/MEMS IMU Vehicle-Borne Integrated System[J].Geomatics and Information Science of Wuhan University,2025,50(10):
1948-1956.DOI:10.13203/j.whugis20230381

智能手机 GNSS/MEMS IMU 车载组合导航的

安装角估计算法

王甫红 程雨欣 赵广越 张万威 1
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1 武汉大学测绘学院，湖北 武汉，430079
摘 要：针对智能手机车载导航时因安装角未知而降低全球导航卫星系统(global navigation satellite system, GNSS)/惯
性导航系统组合导航精度与性能的问题，在智能手机 GNSS/微机械惯性测量单元(micro-electro-mechanical system iner‑
tial measurement unit，MEMS IMU）紧组合导航算法的基础上，提出以载波相位时间差分计算得出的历元间位置变化量
来构建安装角估计的观测方程，并在线估计智能手机车载导航安装角的卡尔曼滤波算法。在典型城市环境的两组车载
实验结果表明，所提算法在较为严重的遮挡环境下可在 80 s 内实现大安装角初始化，安装角滤波器收敛后安装角波动在
2°以内。安装角估计成功后，使用非完整性约束算法，严重遮挡条件下车载组合导航的精度与性能得到明显提升，平面位
置与高程的精度统计均能维持在 5 m 左右。所提算法不需要增加里程计等辅助设备，能够较快实现智能手机大安装角的
精确估计。
关键词：安装角估计；非完整性约束；智能手机；GNSS/MEMS IMU 组合导航；车载导航
中图分类号：P228 文献标识码：A 收稿日期：2023‑12‑23
DOI：10.13203/j.whugis20230381 文章编号：1671‑8860（2025）10‑1948‑09

Mounting Angle Estimation Algorithm for Smartphone GNSS/MEMS IMU
Vehicle-Borne Integrated System

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WANG Fuhong CHENG Yuxin ZHAO Guangyue ZHANG Wanwei 1
1 School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China
Abstract： Objectives: The unknown inertial measurement unit (IMU) mounting angles, i.e., the misalign‑
ment angles between the smartphone s IMU and the vehicle body frame, can seriously affect the smart‑
phone-based global navigation satellite system (GNSS)/inertial navigation system integrated system for ve‑
hicular navigation. Methods: A real-time estimation of the IMU mounting angles is addressed through a
Kalman filter whose measurement updates are realized by position variation between epochs derived by
time-differenced carrier phase besides the smartphone GNSS/ micro-electro-mechanical system inertial
measurement unit (MEMS IMU) tightly-coupled integration algorithm. Results: Two vehicular navigation
experiments were carried out in urban challenging environments to evaluate the performance of the pro‑
posed algorithm. The results show that a large mounting angle can be initialized within 80 s under moderate oc‑
clusion conditions, then convergence of the estimated mounting angle is shown to occur within minutes,
and the accuracy is in the order of 2°. When the mounting angle is estimated successfully, the positioning
performance of smartphone vehicular positioning will be improved significantly, both horizontal and vertical
accuracy can be maintained at about 5 m in terms of root mean square by applying non-holonomic constraint
under severe occlusion conditions. Conclusions: The proposed algorithm can estimate large mounting angles ac‑
curately and rapidly without any auxiliary equipment such as an odometer.

基金项目：国家自然科学基金（62103307，62073044）；卫星导航系统与装备技术国家重点实验室开放基金（CEPNT-2021KF-05）。
第一作者：王甫红，博士，教授，主要从事卫星导航定位和卫星定轨方法的教学与研究工作。fhwang@sgg.whu.edu.cn