Study on EKF-Based Optimal Phase-Adjusted Pseudorange Algorithm for Tightly Coupled GPS/SINS Integrated System

An approach has been proposed to enhance the performance of tightly coupled GPS/SINS integrated system, with applying phase-adjusted pseudorange algorithm (PAPA), which is dedicated to decrease pseudorange noise with the aid of high precise carrier phase optimally, based on the extended Kalman filter (EKF). The theory of optimal PAPA is described first, followed by the construction of tightly coupled GPS/SINS integration system as well as the Kalman filter. Relevant experiments including both static and dynamic ones have been accomplished to verify the validity of the approach proposed. The experiment results demonstrated prominent promotion with the EKF-based PAPA, compared with conventional tightly coupled integrated algorithm.