Vector-tracking-based GNSS/INS Deep Coupling and Experiment Platform for Urban Scenarios

Abstract

Vector-tracking-based GNSS/INS deep coupling is a promising method for high-precision and robust navigation in urban challenging environments, especially for weak and dense multipath scenarios. However, the research on this topic is far from enough due to the complexity of multipath interference and system structure. Herein, a typical vector delay/frequency-locked loop is introduced. Then, based on this vector tracking loop, two different deep coupled schemes are proposed according to different approaches to estimating the corrections for the inertial navigation system. At last, the experiment based on a vehicular field collection and a softwaredefined platform was designed in which all the commonly used stand-alone-receiver-based and GNSS/INS-based methods are tested and compared. The results preliminarily illustrate the effectiveness and superiority of the deep coupling methods designed, on positioning and measurement improvement, especially in a weak signal and multipath scenario.