A Parameter Self-Calibration Method for GNSS/INS Deeply Coupled Navigation Systems in Highly Dynamic Environments

Zang, Chen; Lai, Jizhou; Liu, Jianye; Li, Rongbing; Ji, Guotian

doi:10.3390/s18072341

Cited by 3 publications

(1 citation statement)

References 11 publications

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“…The deeply coupled method combines GNSS and INS observations and GNSS signal tracking into one filter and uses GNSS to track satellite signals through INS. It is an integration on the hardware level, which is difficult to implement and has not been widely used [ 11 , 12 ]. The loosely coupled method integrates GNSS with assisted INS, which has the advantage of a simple structure.…”

Section: Introductionmentioning

confidence: 99%

Effect Analysis of GNSS/INS Processing Strategy for Sufficient Utilization of Urban Environment Observations

Shi

Wang

et al. 2021

Sensors

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The occlusion of buildings in urban environments leads to the intermittent reception of satellite signals, which limits the utilization of observations. This subsequently results in a decline of the positioning and attitude accuracy of Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) integrated system (GNSS/INS). This study implements a smooth post-processing strategy based on a tightly coupled differential GNSS/INS. Specifically, this strategy used the INS-estimated position to reinitialize integer ambiguity. The GNSS raw observations were input into the Kalman filter to update the measurement. The Rauch–Tung–Striebel smoothing (RTSS) algorithm was used to process the observations of the entire period. This study analyzed the performance of loosely coupled and tightly coupled systems in an urban environment and the improvement of the RTSS algorithm on the navigation solution from the perspective of fully mining the observations. The experimental results of the simulation data and real data show that, compared with the traditional tightly coupled processing strategy which does not use INS-aided integer ambiguity resolution and RTSS algorithm, the strategy in this study sufficiently utilized INS observations and GNSS observations to effectively improve the accuracy of positioning and attitude and ensure the continuity of navigation results in an obstructed environment.

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Section: Introductionmentioning

confidence: 99%

Effect Analysis of GNSS/INS Processing Strategy for Sufficient Utilization of Urban Environment Observations

Shi

Wang

et al. 2021

Sensors

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Research on GNSS INS & GNSS/INS Integrated Navigation Method for Autonomous Vehicles: A Survey

Liu

2023

IEEE Access

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Research on a Dynamic Calibration Method for Photogrammetry Based on Rotary Motion

Gan

et al. 2023

Applied Sciences

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Photogrammetry as an engineering measurement technology for the rapid and non-contact acquisition of geometric parameters, such as the attitude, position, and shape of a measured object, is widely used in the development and production processes of the aerospace and automobile industries. The calibration of a corresponding photogrammetry system is the basis for ensuring the accuracy of photogrammetry. The dynamic and static calibration of existing photogrammetry systems has not yet established a system calibration specification or standard, and such calibration has mainly focused on the internal and external parameters of the camera used in a photogrammetry system. The calibration of static parameters cannot fully guarantee the dynamic performance of a photogrammetry system in the process of measuring dynamic targets or micro-deformations. Aiming at the problem of dynamic parameter calibration of photogrammetry systems, this paper proposes a dynamic calibration method based on a circular trajectory standard device, which can realize the calibration of parameters, such as dynamic length measurement error, and ensure an accurate evaluation of the dynamic measurement performance of photogrammetry systems.

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A Parameter Self-Calibration Method for GNSS/INS Deeply Coupled Navigation Systems in Highly Dynamic Environments

Cited by 3 publications

References 11 publications

Effect Analysis of GNSS/INS Processing Strategy for Sufficient Utilization of Urban Environment Observations

Effect Analysis of GNSS/INS Processing Strategy for Sufficient Utilization of Urban Environment Observations

Research on GNSS INS & GNSS/INS Integrated Navigation Method for Autonomous Vehicles: A Survey

Research on a Dynamic Calibration Method for Photogrammetry Based on Rotary Motion

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