Implementation and Performance Evaluation of a Distributed GNSS/SINS Ultra-Tightly Integrated Navigation System

For exploring and researching the mechanism of the GNSS/SINS ultra-tightly integrated navigation system, an efficient tool is critical to evaluate the performance of the design. In this paper, a design of distributed GNSS/SINS ultra-tightly integrated navigation system is implemented by VC++ and Matlab mixed programming which brings a low-cost and flexible approach to evaluate the performance of the method. Meanwhile, the integration filter utilize pseudoranges and pseudorange rates measurements from GNSS receivers and SINS to correct the SINS errors. The corrected SINS information combined with ephemeris is used to aid GNSS tracking loops in frequency. Then a robust closed-loop coupled navigation system is constructed based above all. The experiments show the closed-loop distributed ultra-tight coupled navigation systems can improve the dynamic performance and robustness in high dynamic environments.