Tightly-coupled GNSS-aided inertial system with modulation rotation of two-antenna measurement unit

Emel’yantsev, G. I.; Dranitsyna, E. V.; Stepanov, A. P.; Blazhnov, B. A.; Vinokurov, I. Yu.; Kostin, P. N.; Petrov, P. Yu.; Radchenko, D. A.

doi:10.1109/inertialsensors.2017.8171503

Cited by 3 publications

(1 citation statement)

References 3 publications

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“…(v e,rx eα (t rx ) + S(ω e ie )p e,rx eα (t rx )) , (6) where l e,rx is the unit length line of sight (LOS) vector from p e,rx eα (t rx ) pointing towards p e,rx es (t tx ). 3) Carrier phase: The carrier phase of the signal is tracked by phase lock loops (PLLs) in the receiver.…”

Section: Gnss Observablesmentioning

confidence: 99%

Pose Estimation of UAVs Based on INS Aided by Two Independent Low-Cost GNSS Receivers

Sollie

Bryne

Johansen

2019

2019 International Conference on Unmanned Aircraft Systems (ICUAS)

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Increasing use of UAVs in high-precision applications, such as georeferencing and photogrammetry, increases the requirements on the accuracy of the estimated position, velocity and attitude of the vehicle. Commercial systems that utilize magnetometers in the heading estimates are cheap, but are affected by disturbances from both the vehicle itself, nearby metal structures and variations in the Earth's magnetic field. On the other side, commercial dual-antenna satellite navigation systems can provide the required accuracy, but are expensive. This paper explores the use of a low-cost setup using two independent GNSS receivers, aiding an inertial navigation system by using pseudorange, Doppler frequency and carrier phase measurements from two longitudinally separated receivers on a fixed-wing UAV. The sensor integration was based on a multiplicative extended Kalman filter (MEKF). The main contribution of this paper is the derivation of measurement models for the raw GNSS measurements based on the MEKF error state, taking into account antenna lever arms and explicitly including the difference in measurement time between the receivers in the measurement model for double differenced carrier phase. The proposed method is verified using data collected from a UAV flight.

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Section: Gnss Observablesmentioning

confidence: 99%

Pose Estimation of UAVs Based on INS Aided by Two Independent Low-Cost GNSS Receivers

Sollie

Bryne

Johansen

2019

2019 International Conference on Unmanned Aircraft Systems (ICUAS)

View full text Add to dashboard Cite

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Integrated GNSS/IMU-Gyrocompass with Rotating IMU. Development and Test Results

et al. 2020

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The paper presents the developed integrated GNSS/IMU gyrocompass which, unlike the existing systems, contains a single-axis rotating platform with two antennas installed on it and an inertial measurement unit with tactical grade fiber-optic gyros. It is shown that the proposed design provides attitude solution by observing the signals of only one navigation satellite. The structure of the integrated GNSS/IMU gyrocompass, its specific features and prototype model used in the tests are described. The given test results in urban conditions confirmed heading determination accurate to ±1.5° (3σ).

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Research on Tightly Coupled Multi-Antenna GNSS/MEMS Single-Frequency Single-Epoch Attitude Determination in Urban Environment

et al. 2021

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GNSS-only attitude determination is difficult to perform well in poor-satellite-tracking environments such as urban areas with high and dense buildings or trees. In addition, it is harder to resolve integer ambiguity in the case of single-frequency single-epoch process mode. In this contribution, a low-cost MEMS gyroscope is integrated with multi-antenna GNSS to improve the performance of the attitude determination. A new tightly coupled (TC) model is proposed, which uses a single filter to achieve the optimal estimation of attitude drift, gyro biases and ambiguities. In addition, a MEMS-Attitude-aided Quality-Control method (MAQC) for GNSS observations is designed to eliminate both the carrier multipath errors and half-cycle slips disturbing ambiguity resolution. Vehicle experiments show that in GNSS-friendly scenarios, the Ambiguity Resolution (AR) success rate of the proposed model with MAQC can reach 100%, and the accuracy of attitudes are (0.12, 0.2, 0.2) degrees for heading, pitch and roll angles, respectively. Even in harsh scenarios, the AR success rate increases from about 67% for the GNSS only case to above 90% after coupling GNSS tightly with MEMS, and it is further improved to about 98% with MAQC. Meanwhile, the accuracy and continuity of attitude determination are effectively guaranteed.

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Tightly-coupled GNSS-aided inertial system with modulation rotation of two-antenna measurement unit

Cited by 3 publications

References 3 publications

Pose Estimation of UAVs Based on INS Aided by Two Independent Low-Cost GNSS Receivers

Pose Estimation of UAVs Based on INS Aided by Two Independent Low-Cost GNSS Receivers

Integrated GNSS/IMU-Gyrocompass with Rotating IMU. Development and Test Results

Research on Tightly Coupled Multi-Antenna GNSS/MEMS Single-Frequency Single-Epoch Attitude Determination in Urban Environment

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