RDSS/SINS tightly coupled integrated navigation system for land vehicles

Considering the limits of RDSS in active positioning mode,such as poor security,limited capacity,and inability to continuously provide position,velocity and attitude outputs,a technique of tightly coupled RDSS/SINS integrated navigation system is proposed for land vehicles by utilizing the time differenced carrier phase of 3 geostatic satellites.The velocity errors of inertial system are estimated and corrected by Extended Kalman Filter(EKF).By introducing lateral and vertical velocity limitation,the accuracy of velocity estimation is improved.The position error accumulation in long-playing navigation is attenuated by integrating pseudo-range measurement.The observation equation is deduced and a Kalman filter for integrated navigation is designed.The algorithm is validated by vehicle tests.The results show that this technique can remarkably attenuate the accumulations of velocity errors and position errors.The accuracy satisfies the requirements of land vehicle navigation.