The Inertial Attitude Augmentation for Ambiguity Resolution in SF/SE-GNSS Attitude Determination

Zhu, Jiang; Hu, Xiaoping; Zhang, Jingyu; Li, Tao; Wang, Jinling; Wu, Meiping

doi:10.3390/s140711395

Cited by 9 publications

(6 citation statements)

References 18 publications

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“…Since the attitude errors of MEMS-INS are estimated and corrected by the GPS/MEMS-INS integrated filter in real time, which will be introduced in Section 4 , the errors usually are not very large [ 13 , 20 ]. Thus the float solution calculated by MEMS-INS attitude can be regarded as the reference.…”

Section: Improved Attitude Determination Methods For Single Frequenmentioning

confidence: 99%

“…LAMBDA is popular for ambiguity resolution, since it is known to maximize the ambiguity success rate [ 9 , 16 ]. It has been used to obtain precise baseline estimations that are then used to extract the platform attitude [ 17 , 18 , 19 , 20 ]. However, the LAMBDA method does not include the prior knowledge of the length of the baseline, which is usually known in GPS attitude determination problems [ 9 , 21 ].…”

Section: Introductionmentioning

confidence: 99%

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A Performance Improvement Method for Low-Cost Land Vehicle GPS/MEMS-INS Attitude Determination

Qin

et al. 2015

Sensors

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Global positioning system (GPS) technology is well suited for attitude determination. However, in land vehicle application, low-cost single frequency GPS receivers which have low measurement quality are often used, and external factors such as multipath and low satellite visibility in the densely built-up urban environment further degrade the quality of the GPS measurements. Due to the low-quality receivers used and the challenging urban environment, the success rate of the single epoch ambiguity resolution for dynamic attitude determination is usually quite low. In this paper, a micro-electro-mechanical system (MEMS)—inertial navigation system (INS)-aided ambiguity resolution method is proposed to improve the GPS attitude determination performance, which is particularly suitable for land vehicle attitude determination. First, the INS calculated baseline vector is augmented with the GPS carrier phase and code measurements. This improves the ambiguity dilution of precision (ADOP), resulting in better quality of the unconstrained float solution. Second, the undesirable float solutions caused by large measurement errors are further filtered and replaced using the INS-aided ambiguity function method (AFM). The fixed solutions are then obtained by the constrained least squares ambiguity decorrelation (CLAMBDA) algorithm. Finally, the GPS/MEMS-INS integration is realized by the use of a Kalman filter. Theoretical analysis of the ADOP is given and experimental results demonstrate that our proposed method can significantly improve the quality of the float ambiguity solution, leading to high success rate and better accuracy of attitude determination.

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Section: Improved Attitude Determination Methods For Single Frequenmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Performance Improvement Method for Low-Cost Land Vehicle GPS/MEMS-INS Attitude Determination

Qin

et al. 2015

Sensors

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“…Various constraints can be used to improve the success rate of the ambiguity resolution such as the rate-gyro-constraint from the inertial sensor [11,12] and an a priori baseline vector constraint [1]. For land vehicles, the baseline vector often lies in a small spherical zone, which provides an important constraint for improving the success rate of ambiguity resolution.…”

Section: Improvement In Success Rate Employing Constraintsmentioning

confidence: 99%

“…In contrast to the AFM, the statistical properties of differential measurements are fully exploited in the AOF, thereby achieving dramatic improvements in the success rates. Recent advances on this topic focused on the design of the AOF containing more constraints or prior information such as rate-gyro-constraints from inertial sensors and the prior baseline vector constraints [1,11,12].…”

Section: Introductionmentioning

confidence: 99%

Performance improvement of GPS single frequency, single epoch attitude determination with poor satellite visibility

Chen

Sun

2016

Meas. Sci. Technol.

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Similar to global positioning system (GPS) positioning in urban canyons, a fast and successful attitude determination with limited satellite visibility is very significant. For land vehicles, the possible attitude candidates can be treated as a spherical zone with the center at the reference antenna and the baseline as the radius. This provides an important constraint, which can be exploited to improve the reliability of GPS single frequency and single epoch attitude determination in the case of poor satellite reception. First, we fully integrate the spherical zone constraint into the estimation procedure of ambiguity resolution, but not in the validation procedure. Combining both the coordinate domain search and the ambiguity domain search, allows development of a global minimizer of the fixed ambiguity objective function. This scheme also improves the precision of the float ambiguity solution, thus avoiding the problem of search halting. The performance of the new ambiguity resolution method was analyzed by means of several experimental tests, using simulated as well as actual GPS data in urban environments. The experimental results showed that this new, proposed method can utilize a priori spherical zone knowledge to improve the reliability of ambiguity resolution in difficult environments.

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“…The necessary multiple auxiliary receivers and antennas increase system cost, however, limiting the use of this type of scheme in land vehicle applications. Recent studies have integrated inertial and magnetic field sensor measurements into the GPS attitude determination model in order to utilize multiple constraints to decrease the ambiguity search space (Gebre-Egziabher et al 1998;Li et al 2006Li et al , 2012Roth et al 2012;Eling et al 2013;Zhu et al 2013Zhu et al , 2014. For example, Zhu et al (2013) applied rate-gyro-constraints to filter the candidates in the ambiguity search stage, resulting in high ambiguity search success rates after efficiently shrinking the search space.…”

Section: Introductionmentioning

confidence: 99%

Low-cost land vehicle attitude determination using single-epoch GPS data, MEMS-based inclinometer measurements

Chen

2016

Acta Geod Geophys

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GPS compasses equipped with short baselines can provide precise heading and elevation information for land vehicles. Most recent research in this area has focused on developing single-frequency, single-epoch ambiguity resolution, as the ambiguity resolution in a single epoch can guarantee total independence from carrier phase slips and lock losses. The reliability of single-frequency, single-epoch ambiguity resolution, however, are often insufficient for actual applications due to the weak baseline model. For land vehicle applications, baseline elevation can also be measured by inclinometer, which provides an important constraint that can be exploited to directly assist the ambiguity resolution process. In this study, we developed an innovative method that fully integrates MEMS-based inclinometer measurements into single-difference GPS observation equations and obtains the fixed baseline solution via weighted constrained integer least squares. We then explored the performance and effectiveness of the proposed method by building an integrated GPS/inclinometer compass system (IGICS) with low-cost GPS receivers (U-Blox LEA-6T) and a MEMS-based inclinometer (SCA-100T). Both actual static and dynamic experiments demonstrated that our method is capable of successfully fixing the set of integer ambiguities to the correct value for land vehicles equipped with very short baselines. The proposed method is also more easily implemented than the traditional augmenting scheme with rate gyros and IMU, as evidenced by a comparative experiment conducted using three approaches: (1) the new method; (2) horizontal constraint without inclinometer measurements; and (3) exploiting inclinometer measurements without imposing horizontal constraints.

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The Inertial Attitude Augmentation for Ambiguity Resolution in SF/SE-GNSS Attitude Determination

Cited by 9 publications

References 18 publications

A Performance Improvement Method for Low-Cost Land Vehicle GPS/MEMS-INS Attitude Determination

A Performance Improvement Method for Low-Cost Land Vehicle GPS/MEMS-INS Attitude Determination

Performance improvement of GPS single frequency, single epoch attitude determination with poor satellite visibility

Low-cost land vehicle attitude determination using single-epoch GPS data, MEMS-based inclinometer measurements

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