Multi-GNSS RTK/INS tightly coupled integrated navigation method considering ISB/IFB estimation

被引：0
|
作者：
Hao Y. [1 ]
Sun J. [2 ]
Sui X. [3 ]
Xu A. [3 ]
Shi C. [1 ,4 ]
机构：
[1] School of Electronic and Information Engineering, Beijing University of Aeronautics and Astronautics, Beijing
[2] The 15th Research Institute of China Electronics Technology Group Corporation, Beijing
[3] School of Geomatics, Liaoning Technical University, Fuxin
[4] Laboratory of Navigation and Communication Fusion Technology, Ministry of Industry and Information Technology, Beijing
来源：
Cehui Xuebao/Acta Geodaetica et Cartographica Sinica | 2022年 / 51卷 / 11期
基金：
中国国家自然科学基金;
关键词：
GNSS RTK/INS tightly coupled navigation system; ISB/IFB; PSO; robust estimation;
D O I：
10.11947/j.AGCS.2022.20210124
中图分类号：
学科分类号：
摘要：
For better complementarity among multi-GNSS in GNSS challenging environment, multi-GNSS RTK/INS tightly coupled integration with consideration of ISB/IFB estimation is proposed, aiming at ambiguity resolution (AR) failure subject to signal difference between GNSS. Multi-GNSS RTK/INS tightly coupled measurement equation with ISB/IFB parameters is established, and the ISB/IFB estimation algorithm using robust estimation and particle swarm optimization (PSO) is proposed. The experimental results demonstrate that ambiguity-fixing success rate can be increased to a certain extend considering ISB/IFB estimation. Inter-GNSS ambiguity-fixing success rate is related to the accuracy of float solutions, and adopting measurement noise parameter adaptive control to improve float state estimation accuracy can leads better performance in terms of multi-GNSS RTK/INS inter-GNSS AR and navigation accuracy. © 2022 SinoMaps Press. All rights reserved.
引用
收藏
页码：2265 / 2272
页数：7
相关论文
共 29 条
  • [1] HAN Houzeng, WANG Jian, WANG Jinling, Et al., Performance analysis on carrier phase-based tightly-coupled GPS/BDS/INS integration in GNSS degraded and denied environmentsEj, Sensors, 15, 4, pp. 8685-8711, (2015)
  • [2] GAN Yu. SU1 Lifen, LIU Changjian, Et al., Instantaneous attitude determination based on original multi-antenna observations using adaptively robust Kalman filtering]J], Acta Geodaetica et Cartographies Sinica, 44, 9, pp. 945-951, (2015)
  • [3] HAN Houzeng, WANG Jian, WANG Jinling, Et al., Reliable partial ambiguity resolution for single-frequency GPS/BDS and INS integration, GPS Solutions, 21, 1, pp. 251-264, (2017)
  • [4] DONG Yi, WANG Dingjie, ZHANG Liang, Et al., Tightly coupled GNSS/INS integration with robust.sequential Kalman filter for accurate vehicular navigation [J], Sensors, 20, 2, (2020)
  • [5] EL-MOWAFY A., Decimetre level mapping using differential phase measurements of GPS handheld receivers, Survey Review, 38, 295, pp. 47-57, (2005)
  • [6] WANNINGER L., Carrier-phase inter-frequency biases of GLONASS receivers [J], Journal of Geodesy, 86, 2, pp. 139-148, (2012)
  • [7] LI T, ZHANG H, GAG Z, Et al., High-accuracy positioning in urban environments using single-frequency multiGN.SS RTK/MEMS-1MU integration, Remote Sensing, 10, 2, (2018)
  • [8] PAZIEWSK1 J, W1ELGOSZ P., Accounting for Gallleo-GPS inter-system biases in precise satellite positioning, Journal of Geodesy, 89, 1, pp. 81-93, (2015)
  • [9] ZHANG S, ZHANG K, WU S, Et al., Network-based RTK positioning using integrated GPS and GLONAS observations[JJ, International Global Navigation Satellite, 29, 8, (2011)
  • [10] AL-SHAERY A, ZHANG S, RIZOS C., An enhanced calibration method of GLONASS inter-channel bias for GNSS RTK[J], GPS Solutions, 17, 2, pp. 165-173, (2013)
123