Tightly-coupled MEMS-INS/GPS Integration Using Sequential Processing Method

被引：0

作者：

Zhou, Junchuan ^{[1
]}

Knedlik, Stefan ^{[1
]}

Loffeld, Otmar ^{[1
]}

机构：

[1] Univ Siegen, Ctr Sensorsyst ZESS, D-57068 Siegen, Germany

来源：

PROCEEDINGS OF THE 22ND INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION (ION GNSS 2009) | 2009年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The delta pseudorange measurement is often used in INS/GPS tightly-coupled integration for velocity determination. However, it is a type of integrated measurements with errors strongly related to the pseudorange errors at the beginning and end of the integration interval. In order to correctly account for these errors, in this paper, we carry the delayed state terms to remember the estimation errors of the pseudorange at the beginning of the integration interval. Besides, sequential processing is used in the measurement update of the Kalman filter (KF) algorithm to prevent the matrix inverse calculation. Simulations are conducted on the basis of a field collected 3D UAV trajectory. Numerical results show that the correct handling of the errors involved in the delta pseudorange measurements is critical, especially when the vehicle is maneuvering under high dynamics.

引用

页码：3075 / 3086

页数：12

共 50 条

[31] A novel fuzzy adaptive SRUKF algorithm in tightly-coupled INS/GPS systems [J].

Yuan, Jianguo ;

Yuan, Yantao ;

Liu, Feilong ;

Pang, Yu ;

Lin, Jinzhao .

Harbin Gongye Daxue Xuebao/Journal of Harbin Institute of Technology, 2015, 47 (11) :108-112

[32] A Tightly-Coupled GNSS/IMU Integration Algorithm for Multi-Purpose INS [J].

Shatilov, A. Y. ;

Nagin, I. A. .

PROCEEDINGS OF THE 25TH INTERNATIONAL TECHNICAL MEETING OF THE SATELLITE DIVISION OF THE INSTITUTE OF NAVIGATION (ION GNSS 2012), 2012, :867-873

[33] Performance of Tightly Coupled Integration of GPS/BDS/MEMS-INS/Odometer for Real-Time High-Precision Vehicle Positioning in Urban Degraded and Denied Environment [J].

Liu, Fei ;

Han, Houzeng ;

Cheng, Xin ;

Li, Binghao .

JOURNAL OF SENSORS, 2020, 2020

[34] Online design of optimal carrier tracking loop bandwidth for tightly-coupled GPS/INS [J].

Xu Xiaohan ;

Wang Kedong .

CHINESE SPACE SCIENCE AND TECHNOLOGY, 2019, 39 (02) :49-57

[35] Fault Detection and Exclusion for INS/GPS/5G Tightly-Coupled Navigation [J].

Jia, Mu ;

Kassas, Zaher M. .

2023 IEEE/ION POSITION, LOCATION AND NAVIGATION SYMPOSIUM, PLANS, 2023, :597-602

[36] Application of doppler smoothing pseudo-range in GPS/INS tightly-coupled navigation [J].

Zheng, Nanshan, 1600, Editorial Board of Medical Journal of Wuhan University (39) :1158-1162

[37] Enhancing Localization Accuracy of MEMS-INS/GPS/In-Vehicle Sensors Integration During GPS Outages [J].

Xu, Qimin ;

Li, Xu ;

Chan, Ching-Yao .

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT, 2018, 67 (08) :1966-1978

[38] Improving the performance of tightly-coupled GPS/INS navigation by using time-differenced GPS-carrier-phase measurements and low-cost MEMS IMU [J].

Zhao Y. ;

Becker M. ;

Becker D. ;

Leinen S. .

Gyroscopy and Navigation, 2015, 6 (02) :133-142

[39] Tightly-coupled integration of acoustic signal and MEMS sensors on smartphones for indoor positioning [J].

Chen, Ruizhi ;

Guo, Guangyi ;

Ye, Feng ;

Qian, Long ;

Xu, Shihao ;

Li, Zheng .

Cehui Xuebao/Acta Geodaetica et Cartographica Sinica, 2021, 50 (02) :143-152

[40] Analysis on the Influence of the INS Precision in an Ultra-tightly Coupled INS/GPS Integration [J].

Luo Dacheng ;

Liu Zhiguo ;

Zhang Shuai .

2016 IEEE INFORMATION TECHNOLOGY, NETWORKING, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (ITNEC), 2016, :1106-1111

← 1 2 3 4 5 →