Abstract
The integration of Inertial Navigation System (INS) and Global Positioning System (GPS) single-point-positioning (SPP) mode cannot meet the requirements of high-accuracy navigation. Range observation through ultra-wideband (UWB) is an effective means to enhance the reliability and accuracy of GPS/INS integrated navigation, particularly in environments where GPS availability is poor. Because it is difficult for UWB signal to achieve large-scale intervention coverage, an enhanced GPS/INS/UWB integrated scheme with positioning error correction is proposed to improve the position accuracy in the UWB signal outage scenario. The position difference between the GPS/INS integrated solution and the GPS/INS/UWB integrated solution is predicated as the error correction for GPS/INS/UWB integrated navigation in a UWB signal challenging environment. Position correction information in the north and east directions is input to the two-step filter to decrease the error of GPS/INS integrated navigation in single-point-positioning. In order to validate the proposed method, a real experiment is conducted. The results indicate that the enhanced GPS/INS/UWB integrated scheme with positioning error correction is able to improve the position accuracy of GPS/INS/UWB integrated navigation when UWB signal is unavailable.
Highlights
When used in combination, global navigation satellite system (GNSS) and inertial navigation systems (INS) can be used to collect geographic data of specific objects, such as attitude, velocity, and position
Global Positioning System (GPS)/INS/UWB integrated trajectory was divided into three three stages: stages: In order to divided test the performance of the enhanced GPS/INS/UWB integrated system, the whole trajectory was into trajectory was divided into three stages: Remote
An enhanced GPS/INS/UWB integrated scheme with positioning error correction is proposed to improve the position accuracy, which is based on predicting the position difference between GPS/INS
Summary
Global navigation satellite system (GNSS) and inertial navigation systems (INS) can be used to collect geographic data of specific objects, such as attitude, velocity, and position. The detailed process of UWB performance testing in the context of navigating and positioning was analyzed in GNSS-compromised environments, which illustrates the potential of UWB for long-time tracking and navigation, without the expansion of drift errors This makes mapping possible and reliable for commercial applications [19]. To further enhance the reliability and availability of GPS/INS integration, the positioning techniques based on UWB range measurements and the corresponding algorithms were proposed and could improve performance. A new, enhanced, tightly coupled cooperative positioning technique was developed by adding ultra-wide bandwidth (UWB)-based inter-vehicular range measurements. This method outperformed the INS-aided tight cooperative positioning method, the tight cooperative positioning method, and the DGPS by 60%, 65%, and 73%, respectively, in the GPS outage scenario [23].
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