MEMS-based SINS/GNSS tightly-coupled navigation aided by time-differenced carrier-phase measurements

被引：0

作者：

Dong Y. ^{[1
]}

Wang D. ^{[2
]}

Wu J. ^{[2
]}

机构：

[1] State Key Laboratory of Astronautic Dynamics, Xi'an Satellite Control Center, Xi'an

[2] College of Aerospace Science and Engineering, National University of Defense Technology, Changsha

来源：

Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2021年 / 29卷 / 04期

关键词：

Carrier phase; IMU; Integrated navigation; Kalman filter; Time-differencing;

D O I：

10.13695/j.cnki.12-1222/o3.2021.04.005

中图分类号：

学科分类号：

摘要：

In order to improve the real-time navigation performance of standalone Micro-Electro-Mechanical-System (MEMS) based strapdown inertial navigation system (SINS)/global navigation satellite system (GNSS) integration, a modified GNSS/MEMS-SINS tight integration approach based on time-differenced carrier phase (TDCP) aiding is proposed, which directly uses high-precision carrier phase time differential observation information to improve the online compensation accuracy of micro-inertial navigation errors. The effects of two TDCP aiding strategies on navigation accuracy are presented and compared, and the tightly-coupled system model is established with a robust sequential Kalman filter to resist outlying GNSS measurements. The field tests indicate that, compared with the traditional tightly-coupling method, the proposed algorithm can effectively improve the accuracy of position, velocity and attitude by about 29%, 21% and 42%. Moreover, in cases of relatively long complete GNSS outages (e.g., 60 s), the proposed algorithm can significantly improve the sliding position, speed and attitude accuracy by about 46%, 40% and 51%. © 2021, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.

引用

页码：451 / 458

页数：7

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