Effect Analysis of GNSS/INS Processing Strategy for Sufficient Utilization of Urban Environment Observations

Autor: Bo Shi, Mengke Wang, Yunpeng Wang, Yuntian Bai, Kang Lin, Fanlin Yang
Jazyk: angličtina
Rok vydání: 2021
Předmět:
Zdroj: Sensors, Vol 21, Iss 2, p 620 (2021)
Druh dokumentu: article
ISSN: 21020620
1424-8220
DOI: 10.3390/s21020620
Popis: The occlusion of buildings in urban environments leads to the intermittent reception of satellite signals, which limits the utilization of observations. This subsequently results in a decline of the positioning and attitude accuracy of Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) integrated system (GNSS/INS). This study implements a smooth post-processing strategy based on a tightly coupled differential GNSS/INS. Specifically, this strategy used the INS-estimated position to reinitialize integer ambiguity. The GNSS raw observations were input into the Kalman filter to update the measurement. The Rauch–Tung–Striebel smoothing (RTSS) algorithm was used to process the observations of the entire period. This study analyzed the performance of loosely coupled and tightly coupled systems in an urban environment and the improvement of the RTSS algorithm on the navigation solution from the perspective of fully mining the observations. The experimental results of the simulation data and real data show that, compared with the traditional tightly coupled processing strategy which does not use INS-aided integer ambiguity resolution and RTSS algorithm, the strategy in this study sufficiently utilized INS observations and GNSS observations to effectively improve the accuracy of positioning and attitude and ensure the continuity of navigation results in an obstructed environment.
Databáze: Directory of Open Access Journals
Externí odkaz:
Nepřihlášeným uživatelům se plný text nezobrazuje