Abstract
The integration of Global Positioning System (GPS) real-time kinematics (RTK) and an inertial navigation system (INS) has been widely used in many applications, such as mobile mapping and autonomous vehicle control. Such applications require high-accuracy position information. However, continuous and reliable high-accuracy positioning is still challenging for GPS/INS integration in urban environments because of the limited satellite visibility, increasing multipath, and frequent signal blockages. Recently, with the rapid deployment of multi-constellation Global Navigation Satellite System (multi-GNSS) and the great advances in low-cost micro-electro-mechanical-system (MEMS) inertial measurement units (IMUs), it is expected that the positioning performance could be improved significantly. In this contribution, the tightly-coupled single-frequency multi-GNSS RTK/MEMS-IMU integration is developed to provide precise and continuous positioning solutions in urban environments. The innovation-based outlier-resistant ambiguity resolution (AR) and Kalman filtering strategy are proposed specifically for the integrated system to resist the measurement outliers or poor-quality observations. A field vehicular experiment was conducted in Wuhan City to evaluate the performance of the proposed algorithm. Results indicate that it is feasible for the proposed algorithm to obtain high-accuracy positioning solutions in the presence of measurement outliers. Moreover, the tightly-coupled single-frequency multi-GNSS RTK/MEMS-IMU integration even outperforms the dual-frequency multi-GNSS RTK in terms of AR and positioning performance for short baselines in urban environments.
Highlights
High-accuracy positioning is an issue for many applications, such as machine control, unmanned aerial vehicles, mobile mapping, etc
We investigate the feasibility of high-accuracy positioning in urban environments by using the tightly-coupled integration of single-frequency Global Positioning System (GPS)/BeiDou navigation satellite system (BDS)/GLObal NAvigation Satellite System (GLONASS) real-time kinematics (RTK) and inertial navigation system (INS)
Where n is the total number of DD ambiguities; δpr is the baseline increment vector; ∇∆r0 denotes the computed DD ranges with approximate rover coordinates and satellite positions; the superscripts ‘G’, ‘C’, ‘R’ represent GPS, BDS and GLONASS, respectively; H is the design matrix containing the relative receiver-satellite geometry; Λ is the diagonal matrix that contains the wavelengths of f1 frequencies from the GPS, BDS and GLONASS satellites
Summary
High-accuracy positioning is an issue for many applications, such as machine control, unmanned aerial vehicles, mobile mapping, etc. Hewitson et al extended the GNSS receiver autonomous integrity monitoring (RAIM) algorithm to the integrated GNSS/INS systems [29] Even though these methods are effective to detect and isolate faulty measurements, a highly-reliable FDE algorithm is still needed, especially for carrier-phase-based high-accuracy positioning in GNSS-challenged environments. The positioning performance in urban environments has been investigated in some previous studies, they mainly focused on the integration of GPS-only and INS, and few investigated the centimeter-level positioning capabilities in urban environments by combining the multi-GNSS data and low-cost MEMS-IMU data In this contribution, we investigate the feasibility of high-accuracy positioning in urban environments by using the tightly-coupled integration of single-frequency GPS/BDS/GLONASS RTK and INS.
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