Tightly coupled integrated inertial and real-time-kinematic positioning approach using nonlinear observer

Tightly coupled integration of inertial measurements and raw global navigation satellite measurements using a nonlinear observer is proposed for real-time-kinematic applications. The position, linear velocity and attitude estimates of a rover is aided by global pseudo-range and carrier-phase measurements from the rover and a base station. The tight integration is achieved using a modular observer design, where the attitude observer with gyro bias estimate is based on a nonlinear complementary filter. Two translational motion observers estimating position and linear velocity using single- or double-differenced range measurements, respectively, are presented. The range measurements include pseudo-range and carrier-phase measurements from the satellite constellation to rover and base station, where the integer ambiguity resolution is estimated as part of the nonlinear observer state vector. The feedback interconnection of the observer systems is shown to be exponentially stable. The proposed observers are tested with an unmanned aerial vehicle simulator.

[1]  J. D. Gautier,et al.  Using the GPS/INS Generalized Evaluation Tool (GIGET) for the Comparison of Loosely Coupled, Tightly Coupled and Ultra-Tightly Coupled Integrated Navigation Systems , 2003 .

[2]  Jan Wendel,et al.  Enhancement of a Tightly Coupled GPS/INS System for High Precision Attitude Determination of Land Vehicles , 2003 .

[3]  Salah Sukkarieh,et al.  Tightly Coupled INS/GPS with Bias Estimation for UAV Applications , 2004 .

[4]  Charles K. Toth,et al.  Tightly Coupled GPS/INS/CCD Integration Based on GPS Carrier Phase Velocity Update , 2004 .

[5]  Jan Wendel,et al.  A Performance Comparison of Tightly Coupled GPS/INS Navigation Systems based on Extended and Sigma Point Kalman Filters , 2005 .

[6]  Jay A. Farrell,et al.  Aided Navigation: GPS with High Rate Sensors , 2008 .

[7]  Robert E. Mahony,et al.  Nonlinear Complementary Filters on the Special Orthogonal Group , 2008, IEEE Transactions on Automatic Control.

[8]  Rui Hirokawa,et al.  A Low-Cost Tightly Coupled GPS/INS for Small UAVs Augmented with Multiple GPS Antennas , 2009 .

[9]  Minh-Duc Hua.  Attitude estimation for accelerated vehicles using GPS/INS measurements , 2010 .

[10]  Thor I. Fossen,et al.  Handbook of Marine Craft Hydrodynamics and Motion Control: Fossen/Handbook of Marine Craft Hydrodynamics and Motion Control , 2011 .

[11]  Carlos Silvestre,et al.  Single range aided navigation and source localization: Observability and filter design , 2011, Syst. Control. Lett..

[12]  Tor Arne Johansen,et al.  Attitude Estimation Using Biased Gyro and Vector Measurements With Time-Varying Reference Vectors , 2012, IEEE Transactions on Automatic Control.

[13]  Agus Budiyono,et al.  Principles of GNSS, Inertial, and Multi-sensor Integrated Navigation Systems , 2012 .

[14]  Tor Arne Johansen,et al.  Nonlinear observer for GNSS-aided inertial navigation with quaternion-based attitude estimation , 2013, 2013 American Control Conference.

[15]  Pedro Tiago Martins Batista.  GES long baseline navigation with unknown sound velocity and discrete-time range measurements , 2013, 52nd IEEE Conference on Decision and Control.

[16]  Phillip Tomé,et al.  Implementation and Performance of a GPS/INS Tightly Coupled Assisted PLL Architecture Using MEMS Inertial Sensors , 2014, Sensors.

[17]  David Becker,et al.  Improving the performance of tightly-coupled GPS/INS navigation by using time-differenced GPS-carrier-phase measurements and low-cost MEMS IMU , 2015 .

[18]  Tor Arne Johansen,et al.  Nonlinear observer for inertial navigation aided by pseudo-range and range-rate measurements , 2015, 2015 European Control Conference (ECC).

[19]  Pedro Batista,et al.  Long baseline navigation with clock offset estimation and discrete-time measurements , 2015 .

[20]  Pedro Batista.  GES Long Baseline Navigation With Unknown Sound Velocity and Discrete-Time Range Measurements , 2015, IEEE Trans. Control. Syst. Technol..

[21]  Ryan M. Watson,et al.  Performance Characterization of Tightly-Coupled GNSS Precise Point Positioning Inertial Navigation within a Simulation Environment , 2016 .

[22]  Leigh McCue,et al.  Handbook of Marine Craft Hydrodynamics and Motion Control [Bookshelf] , 2016, IEEE Control Systems.

[23]  Jay A. Farrell,et al.  Computationally Efficient Carrier Integer Ambiguity Resolution in Multiepoch GPS/INS: A Common-Position-Shift Approach , 2016, IEEE Transactions on Control Systems Technology.

[24]  Carlos Silvestre,et al.  Tightly coupled long baseline/ultra-short baseline integrated navigation system , 2016, Int. J. Syst. Sci..