An approach for the deeply coupled GNSS/INS software defined receiver based on Matlab

This paper presents a scheme for building a deeply coupled GNSS/INS software defined receiver based on Matlab. Two key issues involved, the “real-time” calculation and the alignment between GNSS IF data and IMU data, are elaborated in detail. The proposed software defined receiver has a pure software implementation; the only hardware for it is the front end. It is compatible with a variety of data sources and is able to give a complete simulation for the real deeply coupled GNSS/INS navigation system. Compared to the hardware platform based on DSP+FPGA, this proposed software defined receiver is more flexible and is more efficient for algorithm testing or development. A studied example is presented to show the usage and performance of the proposed software defined receiver.