Low-cost inertial measurement unit (IMU) is gradually applied for providing reliable positioning and navigation information in the area of Internet of Things (IoT) applications recently. However, the accuracy of IMU is highly influenced by inertial sensor errors in global navigation satellite system-denied and indoor navigation environment. In order to improve the accuracy and robustness of IMU, rotation modulation and cooperative navigation techniques can serve as effective ways for indoor and outdoor seamless navigation and positioning. In this article, we propose a cooperative navigation system with a low-cost inertial sensor array composed of four IMUs. For optimizing the configuration and information processing of this system, observability analysis is carried out based on the concept of the Degree of Observability (DoO). Furthermore, a criterion for calculating the DoO is formulated to simplify the observability analysis of rotational IMUs. According to the simulation experiments of unmanned vehicle at low, medium, and high driving speeds, the IMU rotation technique can improve the observability of inertial sensor errors and thus increase the accuracy of orientation, while the cooperative navigation technique can highly improve the accuracy of positioning.

中文翻译：

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低成本惯性传感器阵列协同导航系统可观测性分析与优化

近年来，低成本的惯性测量单元 (IMU) 逐渐应用于物联网 (IoT) 应用领域，以提供可靠的定位和导航信息。然而，在全球导航卫星系统拒止和室内导航环境中，IMU 的精度受惯性传感器误差的影响很大。为了提高IMU的精度和鲁棒性，旋转调制和协同导航技术可以作为室内外无缝导航定位的有效途径。在本文中，我们提出了一种协作导航系统，该系统具有由四个 IMU 组成的低成本惯性传感器阵列。为了优化该系统的配置和信息处理，基于可观测度（DoO）的概念进行可观测性分析。此外，制定计算 DoO 的标准以简化旋转 IMU 的可观测性分析。根据无人车低、中、高速行驶仿真实验，IMU旋转技术可以提高惯性传感器误差的可观测性，从而提高定位精度，而协同导航技术可以大幅提高定位精度.