Mao, Yi and Sun, Rui and Wang, Junhui and Cheng, Qi and Loo, Chu Kiong and Ochieng, Washington Yotto (2022) New time-differenced carrier phase approach to GNSS/INS integration. GPS Solutions, 26 (4). ISSN 1080-5370, DOI https://doi.org/10.1007/s10291-022-01314-3.
Full text not available from this repository.Abstract
The accuracy of navigation information is essential for modern transport systems. Such information includes position, velocity and attitude. Because of the physical characteristics of the operational environments, integration of GNSS with inertial measurement units (IMU) is commonly used. However, conventional integrated algorithms suffer from low-quality GNSS measurements due to either inaccurate pseudoranges or difficulty of ambiguity resolution when using carrier phase measurements in urban environments. We propose a Time-Difference-Carrier-Phase (TDCP) derivation controlled GNSS/IMU integration scheme. The proposed algorithm enables a TDCP-based control vector construction, including relative position, velocity, heading and pitch, which makes it possible to obtain accurate changes in position, namely delta position, altitude and velocity estimations. These estimated changes are then used to feed a loosely coupled GNSS/IMU integration system. Real-world test results show that the proposed integrated navigation scheme is superior to the conventional algorithm, with accuracy improvements of more than 38% in 3D positioning, 30% in 3D velocity, 35% in roll, 44% in pitch and 39% in heading.
| Item Type: | Article |
|---|---|
| Funders: | National Natural Science Foundation of China (NSFC) (Grant No: 42222401, 42174025 & 41974033), Natural Science Foundation of Jiangsu Province (Grant No: BK20211569) |
| Uncontrolled Keywords: | GNSS; IMU; Urban positioning; Time difference carrier phase |
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science |
| Divisions: | Faculty of Computer Science & Information Technology > Department of Artificial Intelligence |
| Depositing User: | Ms. Juhaida Abd Rahim |
| Date Deposited: | 03 Nov 2023 09:44 |
| Last Modified: | 03 Nov 2023 09:44 |
| URI: | http://eprints.um.edu.my/id/eprint/41522 |
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