Design and Evaluation of GNSS/Ins Tightly-Coupled Navigation Software for Land Vehicles

Wen, Zhenhe; Li, Y.; Guo, Xi; Zhang, X. X.

doi:10.5194/isprs-archives-xlvi-3-w1-2022-213-2022

Cited by 3 publications

(2 citation statements)

References 16 publications

(16 reference statements)

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“…However, the impact of real-time products from different ACs on PPP/INS tight integration has not yet been investigated. In addition, the observation of Doppler is widely used in GNSS velocity determination [30,31], and Doppler observations are often used in the TCI models [32][33][34], but their influence on TCI performance is rarely analyzed. To improve the PPP/INS solutions in complex environments, the Robust Kalman Filter (RKF) is introduced [34][35][36][37].…”

Section: Introductionmentioning

confidence: 99%

“…In addition, the observation of Doppler is widely used in GNSS velocity determination [30,31], and Doppler observations are often used in the TCI models [32][33][34], but their influence on TCI performance is rarely analyzed. To improve the PPP/INS solutions in complex environments, the Robust Kalman Filter (RKF) is introduced [34][35][36][37]. A adaptive Robust Kalman Filter for a MEMS/GNSS integrated system is designed in [37], and a vehicular experiment shows that this algorithm could constructively suppress the error divergence.…”

Section: Introductionmentioning

confidence: 99%

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Comprehensive Evaluation of Data-Related Factors on BDS-3 B1I + B2b Real-Time PPP/INS Tightly Coupled Integration

Kan

Гао

et al. 2022

Remote Sensing

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Owing to the developments of satellite-based and network-based real-time satellite precise products, the Precise Point Positioning (PPP) technique has been applied far and wide, especially since the PPP-B2b service was provided by the third-generation BeiDou Navigation Satellite System (BDS-3). However, satellite outages during dynamic application lead to significant degradation of the accuracy and continuity of PPP. A generally used method is integrating PPP with Inertial Measurement Units (IMUs) to enhance positioning performance. Previous works on this topic are usually based on IMU data at a high sampling rate and are mostly implemented in post-processing mode. This paper will carry out a compressive assessment of the impacts of different types of precise satellite products (real-time products from the CAS, DLR, GFZ, WHU, and the final one from GFZ), Doppler observations, and different sampling rates of IMU data on the performance of the tightly coupled integration of the BDS-3 B1I/B2b and the Inertial Navigation System (INS). Results based on a group of on-board experimental data illustrate that (1) the positioning accuracy with products supplied by the CAS and WHU are roughly consistent with those using the final products; (2) the Doppler observations can effectively improve the accuracies of velocity, attitude, and vertical position at the initial epochs and during the reconvergence periods, but have invisible influences on the overall positioning, velocity, and attitude determination; and (3) the impact of IMU data interval on the performance of PPP/INS tightly coupled integration is insignificant when there are enough available satellites. However, the divergent speed of position is visibly affected by the IMU sampling rate during satellite outage periods.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Comprehensive Evaluation of Data-Related Factors on BDS-3 B1I + B2b Real-Time PPP/INS Tightly Coupled Integration

Kan

Гао

et al. 2022

Remote Sensing

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A novel UWB/INS tight integration model based on ranging offset calibration and robust cubature Kalman filter

Li,

Gao,

Yang

et al. 2024

Measurement

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Study of Global Navigation Satellite System Receivers’ Accuracy for Unmanned Vehicles

Miletiev,

Petkov,

Yordanov

et al. 2024

Sensors

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The development of unmanned ground vehicles and unmanned aerial vehicles requires high-precision navigation due to the autonomous motion and higher traffic intensity. The existing L1 band GNSS receivers are a good and cheap decision for smartphones, vehicle navigation, fleet management systems, etc., but their accuracy is not good enough for many civilian purposes. At the same time, real-time kinematic (RTK) navigation allows for position precision in a sub-centimeter range, but the system cost significantly narrows this navigation to a very limited area of applications, such as geodesy. A practical solution includes the integration of dual-band GNSS receivers and inertial sensors to solve high-precision navigation tasks, but GNSS position accuracy may significantly affect IMU performance due to having a great impact on Kalman filter performance in unmanned vehicles. The estimation of dilution-of-precision (DOP) parameters is essential for the filter performance as the optimality of the estimation in the filter is closely connected to the quality of a priori information about the noise covariance matrix and measurement noise covariance. In this regard, the current paper analyzes the DOP parameters of the latest generation dual-band GNSS receivers and compares the results with the L1 ones. The study was accomplished using two types of antennas—L1/L5 band patch and wideband helix antennas, which were designed and assembled by the authors. In addition, the study is extended with a comparison of GNSS receivers from different generations but sold on the market by one of the world’s leading GNSS manufacturers. The analyses of dilution-of-precision (DOP) parameters show that the introduction of dual-band receivers may significantly increase the navigation precision in a sub-meter range, in addition to multi-constellation signal reception. The fast advances in the performance of the integrated CPU in GNSS receivers allow the number of correlations and tracking satellites to be increased from 8–10 to 24–30, which also significantly improves the position accuracy even of L1-band receivers.

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Design and Evaluation of GNSS/Ins Tightly-Coupled Navigation Software for Land Vehicles

Cited by 3 publications

References 16 publications

Comprehensive Evaluation of Data-Related Factors on BDS-3 B1I + B2b Real-Time PPP/INS Tightly Coupled Integration

Comprehensive Evaluation of Data-Related Factors on BDS-3 B1I + B2b Real-Time PPP/INS Tightly Coupled Integration

A novel UWB/INS tight integration model based on ranging offset calibration and robust cubature Kalman filter

Study of Global Navigation Satellite System Receivers’ Accuracy for Unmanned Vehicles

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