Benefits of Using Carrier Phase Tracking Errors for Ultratight GNSS/INS Integration: Precise Velocity Estimation and Fine IMU Calibration

Liu, Shiming; Li, Sihai; Zheng, Jiangtao; Fu, Qing

doi:10.1109/tim.2021.3138088

Cited by 3 publications

(1 citation statement)

References 31 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Using the early-minus-late power discriminator, the δτ i can be obtained. The δ φ i is the result of two-quadrant arctangent phase discriminator [28]:…”

Section: System Modelmentioning

confidence: 99%

A MCKF-based cascade vector tracking method designed for ship navigation

Liu,

Ma,

et al. 2024

Meas. Sci. Technol.

View full text Add to dashboard Cite

In ship navigation, the most widely used technology is Global Navigation Satellite Systems (GNSS), which provide the ship’s position and velocity continuously over a period of time. However, when ships are blocked by port buildings or bridges, the quality of signals received from shipborne GNSS receivers may be reduced, resulting in inaccurate ship positioning that poses a risk to navigational safety. In an occluded environment, the measurement process during the signal processing of shipborne GNSS receivers is nonstationary and prone to measurement anomalies, which can contaminate measurement noise with outliers. To address this problem, a cascaded non-coherent vector tracking loop (VTL) is designed, with the Maximum correntropy Kalman filter (MCKF) serving as a cascaded carrier/code pre-filter for shipborne GNSS receivers. The measurement noise covariance matrix of the pre-filter is adaptively calculated and corrected using the carrier-to-noise ratio (CNR) and the maximum correntropy criterion, respectively. The algorithm proposed is more sensitive to outliers than the traditional tracking methods and can effectively solve the state estimation problem under the condition of measurement anomalies. Specifically, the algorithm offers ships with more precise position and velocity estimations and lower signal tracking errors than traditional tracking methods under both static and dynamic conditions, as demonstrated by shipboard experiments. The horizontal positioning is increased by 88.4% and the horizontal velocity error is reduced by 62.1% in the occluded environment under dynamic conditions.

show abstract

“…Using the early-minus-late power discriminator, the δτ i can be obtained. The δ φ i is the result of two-quadrant arctangent phase discriminator [28]:…”

Section: System Modelmentioning

confidence: 99%

A MCKF-based cascade vector tracking method designed for ship navigation

Liu,

Ma,

et al. 2024

Meas. Sci. Technol.

View full text Add to dashboard Cite

show abstract

Design and Performance Evaluation of the Improved INS-Assisted Vector Tracking for the Multipath in Urban Canyons

Yan

Chen

Tang

et al. 2022

IEEE Trans. Instrum. Meas.

View full text Add to dashboard Cite

Peripheral-Free Calibration Method for Redundant IMUs Based on Array-Based Consumer-Grade MEMS Information Fusion

et al. 2022

View full text Add to dashboard Cite

The MEMS array-based inertial navigation module (M-IMU) reduces the measurement singularities of MEMS sensors by fusing multiple data processing to improve its navigation performance. However, there are still existing random and fixed errors in M-IMU navigation. The calibration method calibrates the fixed error parameters of M-IMU to further improve navigation accuracy. In this paper, we propose a low-cost and efficient calibration method to effectively estimate the fixed error parameters of M-IMU. Firstly, we manually rotate the M-IMU in multiple sets of different attitudes (stationary), then use the LM-calibration algorithm to optimize the cost function of the corresponding sensors in different intervals of the stationary-dynamic filter separation to obtain the fixed error parameters of MEMS, and finally, the global fixed error parameters of the M-IMU are calibrated by adaptive support fusion of the individual MEMS fixed error parameters based on the benchmark conversion. A comparison of the MEMS calibrated separately by the fusion-calibration algorithm and the LM-calibration algorithm verified that the calibrated MEMS array improved the measurement accuracy by about 10 db and reduced the dispersion of the output data by about 8 db compared to the individual MEMS in a multi-dimensional test environment, indicating the robustness and feasibility of the fusion calibration algorithm.

show abstract

Benefits of Using Carrier Phase Tracking Errors for Ultratight GNSS/INS Integration: Precise Velocity Estimation and Fine IMU Calibration

Cited by 3 publications

References 31 publications

A MCKF-based cascade vector tracking method designed for ship navigation

A MCKF-based cascade vector tracking method designed for ship navigation

Design and Performance Evaluation of the Improved INS-Assisted Vector Tracking for the Multipath in Urban Canyons

Peripheral-Free Calibration Method for Redundant IMUs Based on Array-Based Consumer-Grade MEMS Information Fusion

Contact Info

Product

Resources

About