Adaptive robust ultra-tightly coupled global navigation satellite system/inertial navigation system based on global positioning system/BeiDou vector tracking loops

With the development of global navigation satellite system (GNSS), the GNSS/inertial navigation system (INS) integrated system offers the users better positioning or navigation performance. This paper proposes an adaptive robust ultra-tightly coupled GNSS/INS system based on a novel vector tracking strategy for combining both global positioning system (GPS) L1 and BeiDou B1 signals' tracking together. The inherent mechanism of the vector tracking approach has been analysed to describe the relationship between the replica signals and user's dynamic state. Then, an adaptive robust filter is used to gain the accurate estimates of vehicle states when the vehicle is under a weak-signal or large manoeuvring environment. Finally, the experimental platform is set up using a GPS/BeiDou signal simulator and an inertial measurement unit simulator and the test results show that the proposed ultra-tightly coupled system can keep the tracking loops from the high dynamic perturbations, which saves the cost time of signal reacquisition. Moreover, the presented adaptive robust ultra-tightly coupled system can obtain a higher accuracy than Kalman filtering in a simultaneous weak-signal and large manoeuvring environment.

[1]  George T Schmidt,et al.  INS/GPS Integration Architectures , 2010 .

[2]  Chris Rizos,et al.  The Feasibility of MEMS Inertial Sensors for Deep Integration of GPS and INS , 2009 .

[3]  Du Xiao,et al.  Implementation of a multi-constellation and multi-mode navigation terminal equipment , 2012, Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium.

[4]  Tao Lin,et al.  Development of a Context-Aware Vector-Based High-Sensitivity GNSS Software Receiver , 2011 .

[5]  Senlin Peng,et al.  A multiple-frequency GPS software receiver design based on a Vector tracking loop , 2012, Proceedings of the 2012 IEEE/ION Position, Location and Navigation Symposium.

[6]  D. Landis,et al.  A Deep Integration Estimator for Urban Ground Navigation , 2006, 2006 IEEE/ION Position, Location, And Navigation Symposium.

[7]  David M. Bevly,et al.  Implementation details of a deeply integrated GPS/INS software receiver , 2010, IEEE/ION Position, Location and Navigation Symposium.

[8]  David M. Bevly,et al.  A Comparison of the Performance of a Non-Coherent Deeply Integrated Navigation Algorithm and a Tightly Coupled Navigation Algorithm , 2008 .

[9]  Aleksandar Jovancevic,et al.  Ultra Tightly Coupled GPS/INS Receiver for TSPI Applications , 2007 .

[10]  Shaojun Feng,et al.  A Novel Positioning and Integrity Monitoring Algorithm for a Multiple Constellation Receiver , 2011 .

[11]  Francesco Bastia,et al.  An insider view on tracking loops: A novel ultra-tight GNSS/INS hybridization approach , 2010, IEEE/ION Position, Location and Navigation Symposium.