Inertial aided BDS triple-frequency integer ambiguity rounding method

Xiao, Kai; Sun, Fuping; He, Maihang; Zhang, Lundong

doi:10.1016/j.asr.2020.12.013

Cited by 6 publications

(6 citation statements)

References 13 publications

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“…As shown in Figure 8, AR performance with IEKF is better than EKF when INSderived position precision is within 1.5 m. At this moment, the INS-derived position can play a positive role of coordinate constraint. Otherwise, the INS-aided effect becomes worse [27].…”

Section: Simulation Experiments and Discussionmentioning

confidence: 99%

“…The improvement in integer ambiguity resolution with INS aiding for kinematic precise point positioning is revealed by sufficient theoretical analysis and performance assessment in [26]. A new inertial-aided ambiguity resolution method that directly rounds the float ambiguity of the BeiDou triple-frequency-combined observations is proposed in [27]. A MEMS-IMU-assisted BeiDou triple-frequency ambiguity resolution method in poor satellite geometry and severe multipath environments is studied in [28].…”

Section: Introductionmentioning

confidence: 99%

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A Novel Two-Stage Adaptive Filtering Model-Based GNSS/INS Tightly Coupled Precise Relative Navigation Algorithm for Autonomous Aerial Refueling

Sun

et al. 2022

International Journal of Aerospace Engineering

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Autonomous aerial refueling (AAR) has generated great interest in recent years. However, much research has focused on the vision-based close docking stage; few studies have been conducted on the navigation algorithm for the rendezvous and following stages. High-precision relative navigation in following stage can provide favourable conditions for successful docking. Aiming at precise relative navigation in the complex high dynamic environment of aerial refueling rendezvous and following stages, a two-stage adaptive filtering architecture is exploited in this paper. An adaptive main Kalman filter (AKF) is realized for ambiguity eliminated GNSS/INS tightly coupled integrated system, and a robust adaptive subfilter is developed for GNSS individually. Particularly, aiming at the influence of pseudorange observation multipath outliers and state abnormal disturbances in unmanned air vehicle- (UAV-) tanker proximity, an INS-aided bifactor robust and classified factor adaptive filtering (IBRCAF) algorithm for single-frequency ambiguity resolution is proposed. Finally, the effectiveness of the algorithm is verified by the simulation experiments for UAV-tanker. The results indicate that the IBRCAF algorithm can efficiently suppress the influence of pseudorange multipath gross errors and abnormal state disturbances and greatly raise the success rate of ambiguity resolution, and the two-stage adaptive filtering algorithm of IBRCAF-AKF can significantly improve relative navigation performance and achieve centimeter-level accuracy.

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Section: Simulation Experiments and Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Novel Two-Stage Adaptive Filtering Model-Based GNSS/INS Tightly Coupled Precise Relative Navigation Algorithm for Autonomous Aerial Refueling

Sun

et al. 2022

International Journal of Aerospace Engineering

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“…It is important to be clear that the state vector should be converted to an ECEF frame. The measurement equations are written as follows [35,36]:…”

Section: Bds/ins Measurement Modelmentioning

confidence: 99%

A Cycle Slip Detection and Repair Method Based on Inertial Aiding for BDS Triple-Frequency Signals

Sun

et al. 2023

Sensors

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Cycle slip detection and repair is a prerequisite to obtain high-precision positioning based on a carrier phase. Traditional triple-frequency pseudorange and phase combination algorithm are highly sensitive to the pseudorange observation accuracy. To solve the problem, a cycle slip detection and repair algorithm based on inertial aiding for a BeiDou navigation satellite system (BDS) triple-frequency signal is proposed. To enhance the robustness, the INS-aided cycle slip detection model with double-differenced observations is derived. Then, the geometry-free phase combination is united to detect the insensitive cycle slip, and the optimal coefficient combination is selected. Furthermore, the L2-norm minimum principle is used to search and confirm the cycle slip repair value. To correct the INS error accumulated over time, the extended Kalman filter based on the BDS/INS tightly coupled system is established. The vehicular experiment is conducted to evaluate the performance of the proposed algorithm from a few aspects. The results indicate that the proposed algorithm can reliably detect and repair all cycle slips that occur in one cycle, including the small and insensitive cycle slips as well as the intensive and continuous cycle slips. Additionally, in signal-challenged environments, the cycle slips occurring 14 s after a satellite signal outage can be correctly detected and repaired.

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“…Therefore, the three carrier ambiguity resolution techniques have been rapidly developed. And the TCAR is one of the representative algorithms [4]- [9]. By linearly combining the observations, the combined noise is much smaller than the combined wavelength, and then the combined ambiguity can been fixed by rounding the combined observations.…”

Section: Introductionmentioning

confidence: 99%

“…To minimize the influence of observation errors, the DDCP measurements is usually used. And the double differences ambiguity resolution is obtained [3]- [9]. Since the transformation matrix of singledifference to double-difference is rank-deficient, the single-difference ambiguity is difficult to recover from the double-difference ambiguity, so the ambiguity free DDCP measurements are often used by current differential localization algorithms.…”

Section: Introductionmentioning

confidence: 99%

A TCAR method for common clock source single difference carrier phase observation ambiguity fixing

Xiao

Si²,

Ye³

et al. 2022

J. Phys.: Conf. Ser.

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The ambiguity resolution is the key issue for global navigation satellite system (GNSS) high precision position. As the traditional three carrier ambiguity resolution (TCAR) method has shortcoming when solving the carrier ambiguity of single difference carrier phase measurement. A single difference carrier phase (SDCP) three carrier ambiguity resolution method was proposed by using the estimation of the relative position between two receiving antennas. It is illustrated by the test experiments that the success rate of SDCP ambiguity resolution with using the proposed algorithm is more than 98%; and the three-dimension(3D) position accuracy based on the ambiguity free SDCP measurements is about 58% higher than the position accuracy that using double differences carrier phase (DDCP) measurements.

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Inertial aided BDS triple-frequency integer ambiguity rounding method

Cited by 6 publications

References 13 publications

A Novel Two-Stage Adaptive Filtering Model-Based GNSS/INS Tightly Coupled Precise Relative Navigation Algorithm for Autonomous Aerial Refueling

A Novel Two-Stage Adaptive Filtering Model-Based GNSS/INS Tightly Coupled Precise Relative Navigation Algorithm for Autonomous Aerial Refueling

A Cycle Slip Detection and Repair Method Based on Inertial Aiding for BDS Triple-Frequency Signals

A TCAR method for common clock source single difference carrier phase observation ambiguity fixing

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