{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T15:44:09Z","timestamp":1760197449905,"version":"build-2065373602"},"reference-count":15,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2018,7,18]],"date-time":"2018-07-18T00:00:00Z","timestamp":1531872000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61273057\/61374115"],"award-info":[{"award-number":["61273057\/61374115"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012154","name":"Funding of Jiangsu Innovation Program for Graduate Education","doi-asserted-by":"publisher","award":["KYLX_0284"],"award-info":[{"award-number":["KYLX_0284"]}],"id":[{"id":"10.13039\/501100012154","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Jiangsu provincial Six Talent-Peaks","award":["2015-XXRJ-005"],"award-info":[{"award-number":["2015-XXRJ-005"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The GNSS\/INS (Global Navigation Satellite System\/Inertial Navigation System) navigation system has been widely discussed in recent years. Because of the unique INS-aided loop structure, the deeply coupled system performs very well in highly dynamic environments. In practice, vehicle maneuvering has a big influence on the performance of IMUs (Inertial Measurement Unit), and determining whether the selected IMUs and receiver parameters satisfy the loop dynamic requirement is still a critical problem for deeply coupled systems. Aiming at this, a new parameter self-calibration method based on the norm principle is proposed which explains the relationship between IMU precision and the velocity error of the system; the method will also provide a detailed solution to calculate the loop steady-state tracking error, so it will eventually make a judgment about the stability of the tracking loop under present system parameter settings. Lastly, a full digital simulation platform is set up, and the results of simulations show good agreement with the proposed method.<\/jats:p>","DOI":"10.3390\/s18072341","type":"journal-article","created":{"date-parts":[[2018,7,20]],"date-time":"2018-07-20T02:10:11Z","timestamp":1532052611000},"page":"2341","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["A Parameter Self-Calibration Method for GNSS\/INS Deeply Coupled Navigation Systems in Highly Dynamic Environments"],"prefix":"10.3390","volume":"18","author":[{"given":"Zang","family":"Chen","sequence":"first","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China"},{"name":"Jiangsu Key Laboratory of Internet of Things and Control Technologies, Nanjing University of Aeronautics & Astronautics, Nanjing 211106, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jizhou","family":"Lai","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China"},{"name":"Jiangsu Key Laboratory of Internet of Things and Control Technologies, Nanjing University of Aeronautics & Astronautics, Nanjing 211106, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jianye","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China"},{"name":"Jiangsu Key Laboratory of Internet of Things and Control Technologies, Nanjing University of Aeronautics & Astronautics, Nanjing 211106, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rongbing","family":"Li","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China"},{"name":"Jiangsu Key Laboratory of Internet of Things and Control Technologies, Nanjing University of Aeronautics & Astronautics, Nanjing 211106, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guotian","family":"Ji","sequence":"additional","affiliation":[{"name":"College of Automation Engineering, Nanjing University of Aeronautics & Astronautics, Nanjing 210016, China"},{"name":"Jiangsu Key Laboratory of Internet of Things and Control Technologies, Nanjing University of Aeronautics & Astronautics, Nanjing 211106, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,7,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"733","DOI":"10.3390\/s150100733","article-title":"Modeling and development of INS-aided PLLs in a GNSS\/INS deeply-coupled hardware prototype for dynamic applications","volume":"15","author":"Zhang","year":"2015","journal-title":"Sensors"},{"key":"ref_2","first-page":"786","article-title":"MIMU precision\u2019s influence on GNSS\/MINS integrated navigation system performance by simulation analysis","volume":"21","author":"Liu","year":"2013","journal-title":"J. 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