Development and Evaluation of GNSS/INS Data Processing Software

被引：2

作者：

Zhang, Quan ^{[1
]}

Niu, Xiaoji ^{[1
]}

Gong, Linlin ^{[1
]}

Zhang, Hongping ^{[1
]}

Shi, Chuang ^{[1
]}

Liu, Chuanchuan ^{[2
]}

Wang, Jun ^{[3
]}

Coleman, Matthew ^{[3
]}

机构：

[1] Wuhan Univ, GNSS Res Ctr, Wuhan 430079, Hubei, Peoples R China

[2] CSR, Shanghai 201206, Peoples R China

[3] Ergon Energy Corp Ltd, ROAMES Grp, Brisbane, Qld 4000, Australia

来源：

CHINA SATELLITE NAVIGATION CONFERENCE (CSNC) 2013 PROCEEDINGS: PRECISE ORBIT DETERMINATION & POSITIONING, ATOMIC CLOCK TECHNIQUE & TIME-FREQUENCY SYSTEM, INTEGRATED NAVIGATION & NEW METHODS | 2013年 / 245卷

基金：

中国国家自然科学基金;

关键词：

GNSS/INS; Kalman filtering; Position and Orientation System (POS); Data processing software;

D O I：

10.1007/978-3-642-37407-4_63

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

Currently there is less mature and reliable commercial software for GNSS/INS data processing in China. Relevant users have to rely on foreign software, e.g., POSPac and Inertial Explorer (IE). This has become one of the bottle-neck of applying GNSS/INS technology to survey and mapping areas in China. This paper introduces newly developed GNSS/INS data processing software-Cinertial. In the design of the algorithm, the local level frame is chosen as the reference frame; and the rotation vector is applied for the attitude update. The GNSS and INS information are fused by a Kalman filtering based on 21-dimensional error states vector. Moreover, Rauch-Tung-Striebel (RTS) backward smoothing algorithm is applied in the software to help ensure the best possible accuracies. The correctness of the developed software is tested and evaluated by the airborne and terrestrial datasets compare to IE and POSPac. The results show that Cinertial can reach the same level of the navigation accuracy as foreign commercial software.

引用

页码：685 / 696

页数：12

共 9 条

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