Post-processing GNSS/INS Measurements Using a Tightly Coupled Fixed-Interval Smoother Performing Carrier Phase Ambiguity Resolution

Mönikes, Ralf; Teltschik, Armin; Wendel, Jan; Trommer, Gert F.

doi:10.1109/plans.2006.1650614

Cited by 5 publications

(3 citation statements)

References 4 publications

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“…Here, the system state is recursively estimated using maximum likelihood. Figure 5 displays the forward (upper part) and backward (lower part) runs of the smoother [ 50 ].…”

Section: Methodsmentioning

confidence: 99%

Numerical Analysis of GNSS Signal Outage Effect on EOPs Solutions Using Tightly Coupled GNSS/IMU Integration: A Simulated Case Study in Sweden

Jouybari

Bagherbandi

Nilfouroushan

2023

Sensors

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The absence of a reliable Global Navigation Satellite System (GNSS) signal leads to degraded position robustness in standalone receivers. To address this issue, integrating GNSS with inertial measurement units (IMUs) can improve positioning accuracy. This article analyzes the performance of tightly coupled GNSS/IMU integration, specifically the forward Kalman filter and smoothing algorithm, using both single and network GNSS stations and the post-processed kinematic (PPK) method. Additionally, the impact of simulated GNSS signal outage on exterior orientation parameters (EOPs) solutions is investigated. Results demonstrate that the smoothing algorithm enhances positioning uncertainty (RMSE) for north, east, and heading by approximately 17–43% (e.g., it improves north RMSE from 51 mm to a range of 42 mm, representing a 17% improvement). Orientation uncertainty is reduced by about 60% for roll, pitch, and heading. Moreover, the algorithm mitigates the effects of GNSS signal outage, improving position uncertainty by up to 95% and orientation uncertainty by up to 60% using the smoothing algorithm instead of the forward Kalman filter for signal outages up to 180 s.

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“…Here, the system state is recursively estimated using maximum likelihood. Figure 5 displays the forward (upper part) and backward (lower part) runs of the smoother [ 50 ].…”

Section: Methodsmentioning

confidence: 99%

Numerical Analysis of GNSS Signal Outage Effect on EOPs Solutions Using Tightly Coupled GNSS/IMU Integration: A Simulated Case Study in Sweden

Jouybari

Bagherbandi

Nilfouroushan

2023

Sensors

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“…e AR process of narrow-lane (NL) carrier phase includes Kalman filter (KF) and LAMBDA (Least-squares Ambiguity Decorrelation Adjustment) algorithm [12]. e serial use of this process and GNSS/INS integrated filtering greatly increases the complexity [13,14].…”

Section: Introductionmentioning

confidence: 99%

A Tightly Coupled BDS/INS Integrated Positioning Algorithm Based on Triple-Frequency Single-Epoch Observations

Pan

Gao

et al. 2021

Mathematical Problems in Engineering

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Vehicular dynamic positioning based on tightly coupled (TC) Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) integration in urban areas is due to either low accuracy of pseudorange or poor continuity of carrier phase, resulting in insufficient positioning performance. To enhance the stability while ensuring positioning accuracy, this paper proposed a tightly coupled Beidou Navigation Satellite System (BDS)/INS integration scheme by improving measurement modelling with triple-frequency observations: first, a stepwise single-epoch ambiguity resolution of extra-wide-lane (EWL)/wide-lane (WL) combined observations and then modelling the measurement equation with fixed WL observation instead of conventional pseudorange or carrier phase. Experiments were carried out for verification with data collected in real traffic by a measurement vehicle. The proposed method achieved single-epoch output with an RMS statistical accuracy of decimetre level of 0.152 m horizontally and 0.196 m vertically. The signal outage experiment verified that the proposed algorithm is restoring high-accuracy positioning output in single-epoch once the signal is recaptured. The proposed method obtained a positioning accuracy improvement of 43.6% horizontally and 6.2% vertically in signal outage sections compared to the conventional method. This avoids the multiepoch ambiguity searching to fix with conventional carrier-phase processing, thereby improving the positioning stability.

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“…To overcome this issue, GNSS is often integrated with Inertial Navigation System (INS) [ 20 , 21 , 22 , 23 , 24 , 25 ], which can provide continuous position, velocity and attitude with high data rate when GNSS is not available. Besides, INS aiding plays an important role in ambiguity resolution [ 26 , 27 , 28 ] and cycle slip detection [ 29 , 30 , 31 ]. Meanwhile, the IMU sensor errors such as gyro drifts, accelerometer biases and scale factor errors can be estimated and compensated to further improve the navigation performance of INS [ 32 , 33 , 34 , 35 ].…”

Section: Introductionmentioning

confidence: 99%

Tightly-Coupled Integration of Multi-GNSS Single-Frequency RTK and MEMS-IMU for Enhanced Positioning Performance

Zhang

Niu

et al. 2017

Sensors

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Dual-frequency Global Positioning System (GPS) Real-time Kinematics (RTK) has been proven in the past few years to be a reliable and efficient technique to obtain high accuracy positioning. However, there are still challenges for GPS single-frequency RTK, such as low reliability and ambiguity resolution (AR) success rate, especially in kinematic environments. Recently, multi-Global Navigation Satellite System (multi-GNSS) has been applied to enhance the RTK performance in terms of availability and reliability of AR. In order to further enhance the multi-GNSS single-frequency RTK performance in terms of reliability, continuity and accuracy, a low-cost micro-electro-mechanical system (MEMS) inertial measurement unit (IMU) is adopted in this contribution. We tightly integrate the single-frequency GPS/BeiDou/GLONASS and MEMS-IMU through the extended Kalman filter (EKF), which directly fuses the ambiguity-fixed double-differenced (DD) carrier phase observables and IMU data. A field vehicular test was carried out to evaluate the impacts of the multi-GNSS and IMU on the AR and positioning performance in different system configurations. Test results indicate that the empirical success rate of single-epoch AR for the tightly-coupled single-frequency multi-GNSS RTK/INS integration is over 99% even at an elevation cut-off angle of 40°, and the corresponding position time series is much more stable in comparison with the GPS solution. Besides, GNSS outage simulations show that continuous positioning with certain accuracy is possible due to the INS bridging capability when GNSS positioning is not available.

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Post-processing GNSS/INS Measurements Using a Tightly Coupled Fixed-Interval Smoother Performing Carrier Phase Ambiguity Resolution

Cited by 5 publications

References 4 publications

Numerical Analysis of GNSS Signal Outage Effect on EOPs Solutions Using Tightly Coupled GNSS/IMU Integration: A Simulated Case Study in Sweden

Numerical Analysis of GNSS Signal Outage Effect on EOPs Solutions Using Tightly Coupled GNSS/IMU Integration: A Simulated Case Study in Sweden

A Tightly Coupled BDS/INS Integrated Positioning Algorithm Based on Triple-Frequency Single-Epoch Observations

Tightly-Coupled Integration of Multi-GNSS Single-Frequency RTK and MEMS-IMU for Enhanced Positioning Performance

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