Low-cost and high performance ultra-tightly coupled GPS/INS integrated navigation method

被引:22
作者
Oh, Sang Heon [1 ]
Hwang, Dong-Hwan [2 ]
机构
[1] Navcours Co Ltd, Integrated Nav Div, 66-6 Techno 2 Ro, Daejeon 34014, South Korea
[2] Chungnam Natl Univ, Dept Elect Engn, 99 Daehak Ro, Daejeon 34134, South Korea
基金
新加坡国家研究基金会;
关键词
GPS/INS; Ultra-tightly; GPS receiver; MEMS IMU; Moving average filter; Time delay;
D O I
10.1016/j.asr.2017.06.007
中图分类号
V [航空、航天];
学科分类号
08 ; 0825 ;
摘要
In this paper, a low-cost, high-performance ultra-tightly coupled GPS/INS integrated navigation method is proposed. The measurement of the integration Kalman filter is generated from a moving average filter in the proposed method. A moving average filter is inserted between the signal tracking error estimator and the integration Kalman filter to avoid other measurement noise reduction methods' limitations and the error of the MEMS inertial sensor is modeled as bias repeatability and bias stability in the proposed method. A new integration Kalman filter is derived to compensate the time delay caused by the moving average filter. The proposed method improves signal tracking performance of the GPS receiver and resolves the problem caused by the difference between correlator output rate and integration Kalman filter update rate. In addition to these, the proposed method resolves the performance degradation problem of the MEMS inertial sensors. In order to verify the proposed method, an experimental platform is constructed, which consists of a GPS/IMU signal generator, a GPS SDR S/W module and a GPS/INS S/W module. The results in weak signal environment show that the proposed method gives better navigation performance than other methods without the moving average filter and/or the model of bias stability of MEMS IMU. (C) 2017 COSPAR. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码:2691 / 2706
页数:16
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