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GPS/SINS/MC integrated navigation algorithm research based on zero velocity update

The navigation output accuracy of SINS / GPS integrated navigation system will decline when GPS is not available. Zero Velocity Update (ZUPT) technology is used for the error correction in this paper. As a relevant algorithm, the zero velocity detection algorithm is applied in the carrier movement. This method has achieved an integrated navigation system filtering algorithm based on ZUPT. The simulation and experiment results show that the algorithm effectively improves the accuracy of navigation by limiting the velocity value of GPS in zero-velocity condition.