Impact of carrier to noise power density, platform dynamics, and IMU quality on deeply integrated navigation

Lashley, Matthew; Bevly, David M.; Hung, John Y.

doi:10.1109/plans.2008.4569964

Cited by 7 publications

(2 citation statements)

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“…Many scholars have elaborated on the characteristics of vector tracking algorithms. Lashley [14,15] compares the performance of three adaptive estimation methods in the vector tracking process. Under high dynamic conditions, they all show the same level of error.…”

Section: Introductionmentioning

confidence: 99%

Performance and Evaluation of GNSS Receiver Vector Tracking Loop Based on Adaptive Cascade Filter

et al. 2021

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In the scenario of high dynamics and low C/N0, the discriminator output of a GNSS tracking loop is noisy and nonlinear. The traditional method uses a fixed-gain loop filter for error estimation, which is prone to lose lock and causes inaccurate navigation and positioning. This paper proposes a cascaded adaptive vector tracking method based on the KF+EKF architecture through the GNSS Software defined receiver in the signal tracking module and the navigation solution module. The linear relationships between the pseudo-range error and the code phase error, the pseudo-range rate error and the carrier frequency error are obtained as the measurement, and the navigation filter estimation is performed. The signal C/N0 ratio and innovation sequence are used to adjust the measurement noise covariance matrix and the process noise covariance matrix, respectively. Then, the estimated error value is used to correct the navigation parameters and fed back to the local code/carrier NCO. The field vehicle test results show that, in the case of sufficient satellite signals, the positioning error of the proposed method has a slight advantage compared with the traditional method. When there is signal occlusion or interference, the traditional method cannot achieve accurate positioning. However, the proposed method can maintain the same accuracy for the positioning results.

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Section: Introductionmentioning

confidence: 99%

Performance and Evaluation of GNSS Receiver Vector Tracking Loop Based on Adaptive Cascade Filter

et al. 2021

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“…The deep fusion between the INS and the receiver tracking loops greatly improves the highly dynamic adaptability and anti-interference ability. With the advantages of cost and size, the micro-electromechanical inertial measurement unit (MIMU) has been widely used in UTC navigation systems [ 3 , 4 , 5 , 6 ].…”

Section: Introductionmentioning

confidence: 99%

A New MIMU/GNSS Ultra-Tightly Coupled Integration Architecture for Mitigating Abrupt Changes of Frequency Tracking Errors

Liu

et al. 2020

Micromachines

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We present a new ultra-tightly coupled (UTC) integration architecture of a micro-electromechanical inertial measurement unit (MIMU) and global navigation satellite system (GNSS) to reduce the performance degradation caused by abrupt changes of frequency tracking errors. A large frequency error will lead to a decrease in the carrier-to-noise ratio (C/N0) estimate and an increase in the code discriminator estimation error. The disruptive effects of frequency errors on the estimation of C/N0 and on the code discriminator are quantitatively evaluated via theoretical analyses and Monte Carlo simulations. The new MIMU/GNSS UTC architecture introduces a large frequency error detector and a refined frequency processor based on a retuned frequency in each tracking channel. In addition, an adaptive channel prefilter with multiple fading factors is introduced as an alternate to the conventional prefilter. Numerical simulations based on a highly dynamic trajectory are used to assess performance. The simulation results show that when there is an abrupt step change in the frequency tracking error, the new UTC architecture can effectively suppress the divergence of navigation solutions and the loss of tracking lock, and can significantly reduce the deviation of the C/N0 estimation.

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Cooperative Vector Tracking for Localization of Vehicles in Challenging GNSS Signal Environments

Watts

Martin

Bevly

2021

2021 IEEE International Intelligent Transportation Systems Conference (ITSC)

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Impact of carrier to noise power density, platform dynamics, and IMU quality on deeply integrated navigation

Cited by 7 publications

References 0 publications

Performance and Evaluation of GNSS Receiver Vector Tracking Loop Based on Adaptive Cascade Filter

Performance and Evaluation of GNSS Receiver Vector Tracking Loop Based on Adaptive Cascade Filter

A New MIMU/GNSS Ultra-Tightly Coupled Integration Architecture for Mitigating Abrupt Changes of Frequency Tracking Errors

Cooperative Vector Tracking for Localization of Vehicles in Challenging GNSS Signal Environments

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