Real-Time Precise Positioning Method for Vehicle-Borne GNSS/MEMS IMU Integration in Urban Environment

被引：0
作者：
Zhu H. [1 ]
Wang F. [1 ]
Zhang W. [1 ]
Luan M. [1 ]
Cheng [1 ]
机构：
[1] School of Geodesy and Geomatics, Wuhan University, Wuhan
来源：
Wuhan Daxue Xuebao (Xinxi Kexue Ban)/Geomatics and Information Science of Wuhan University | 2023年 / 48卷 / 07期
关键词：
global navigation satellite system (GNSS); MEMS IMU; time-differenced carrier phase; urban environment; vehicle-borne real-time precise positioning;
D O I：
10.13203/j.whugis20220491
中图分类号：
学科分类号：
摘要：
Objectives: Recognizing that the seriously occluded global navigation satellite system (GNSS) signals in urban environments and the rapidly accumulated micro-electro-mechanical system inertial measurement unit (MEMS IMU) errors would lead to the decline of GNSS/inertial navigation system (INS) positioning accuracy, a real-time precise positioning method named GNSS real-time kinematic (RTK) + time-differenced carrier phase (TDCP) /INS is proposed. Methods: In this method, the RTK positioning with fixed ambiguity is coupled with INS tightly to generate the navigation results when GNSS signals are well tracked. If GNSS signals are seriously blocked and the RTK solution fails but the TDCP solution succeeds, the TDCP measurements are coupled with INS tightly for navigation. Moreover, if TDCP solution also fails, the INS is used for reckoning navigation. Results: Vehicle experiments have been carried out on the campus of Wuhan University and its surroundings. The results show that the success rate of TDCP solution with multi-GNSS is close to 90% on urban roads except for tunnels and other closed scenes.More importantly,even in an adverse scene where the continuous time of RTK solution failure is less than 45 s, the root mean square errors of the TDCP/INS solution are only 0.30 m and 0.21 m, and its maximum errors are 0.69 m and 0.72 m, respectively, in the horizontal and vertical directions.Conclusions: The experimental results have demonstrated that a decimeter-level real-time navigation accuracy is achievable with this method. © 2023 Wuhan University. All rights reserved.
引用
收藏
页码：1232 / 1240
页数：8
相关论文
共 20 条
  • [1] Shengfeng Gu, Chunqi Dai, Chengpeng He, Et al., Analysis of Semi-tightly Coupled Multi-GNSS PPP-RTK/VIO for Vehicle Navigation in Urban Areas［J］, Geomatics and Information Science of Wuhan University, 46, 12, pp. 1852-1861, (2021)
  • [2] Li W, Li W Y，, Cui X W，, Et al., A Tightly Coupled RTK/INS Algorithm with Ambiguity Resolution in the Position Domain for Ground Vehicles in Harsh Urban Environments［J］, Sensors（Basel，Switzer⁃ land）, 18, 7, (2018)
  • [3] Deng C L, Tang W M, Liu J N，, Et al., Reliable Single-Epoch Ambiguity Resolution for Short Baselines Using Combined GPS/BeiDou System［J］, GPS So⁃ lutions, 18, 3, pp. 375-386, (2014)
  • [4] Feng Zhu, Precise Positioning and Attitude Determination Method and Key Technologies Based on GNSS/SINS/Vision Multi-sensor Fusion［D］, (2019)
  • [5] Shin E H., Estimation Techniques for Low-Cost Inertial Navigation［D］, (2005)
  • [6] Wu H M., On-the-Fly GPS Ambiguity Resolution with Inertial Aiding［D］, (2004)
  • [7] Li T, Zhang H P, Gao Z Z，, Et al., High-Accuracy Positioning in Urban Environments Using Single-Frequency Multi-GNSS RTK/MEMS-IMU Integration［J］, Remote Sensing, 10, 2, (2018)
  • [8] Yu H, Han H Z, Wang J, Et al., Single-Frequency GPS/BDS RTK and INS Ambiguity Resolution and Positioning Performance Enhanced with Positional Polynomial Fitting Constraint［J］, Remote Sensing, 12, 15, (2020)
  • [9] Zhaozhe Li, Wujiao Dai, Bin Zheng, Et al., Performance Analysis of Multi-mode RTK/SINS Compact Combination Positioning in Complex Urban Environment［J］, Journal of Navigation and Positioning, 9, 5, pp. 54-65, (2021)
  • [10] Li X, Li X X, Huang J X，, Et al., Improving PPP-RTK in Urban Environment by Tightly Coupled Integration of GNSS and INS［J］, Journal of Geode⁃ sy, 95, 12, (2021)
12