| Autor: |
Changxin Lai, Ruonan Guo, Qijin Chen, Xiaoji Niu |
| Jazyk: |
angličtina |
| Rok vydání: |
2023 |
| Předmět: |
|
| Zdroj: |
Navigation, Vol 70, Iss 3 (2023) |
| Druh dokumentu: |
article |
| ISSN: |
2161-4296 |
| DOI: |
10.33012/navi.584 |
| Popis: |
The global navigation satellite system (GNSS) real-time kinematics (RTK) survey method cannot be used in GNSS-denied areas largely due to signal blockage. In this work, we aim to extend high-precision RTK positioning capability to GNSS-denied areas via post-processing using an inertial-aided positioning pole that contains a inexpensive inertial measurement unit (IMU) chip and an RTK receiver. The positioning accuracy can be maintained at an acceptable level by using the pole as a walking stick with the pole periodically landing on the ground. Because the pole tip velocity is zero when it maintains contact with solid ground, lever-arm compensated zero-velocity updates (LA-ZUPTs) can be used to suppress errors in the inertial navigation system (INS) in GNSS-denied areas. Experimental results reveal that this method can be used to bridge up to a 60-meter GNSS gap to maintain sub-decimeter-level survey accuracy. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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