Abstract
To meet the requirements of global navigation satellite systems (GNSS) precision applications in high dynamics, this paper describes a study on the carrier phase tracking technology of the GNSS/inertial navigation system (INS) deep integration system. The error propagation models of INS-aided carrier tracking loops are modeled in detail in high dynamics. Additionally, quantitative analysis of carrier phase tracking errors caused by INS error sources is carried out under the uniform high dynamic linear acceleration motion of 100 g. Results show that the major INS error sources, affecting the carrier phase tracking accuracy in high dynamics, include initial attitude errors, accelerometer scale factors, gyro noise and gyro g-sensitivity errors. The initial attitude errors are usually combined with the receiver acceleration to impact the tracking loop performance, which can easily cause the failure of carrier phase tracking. The main INS error factors vary with the vehicle motion direction and the relative position of the receiver and the satellites. The analysis results also indicate that the low-cost micro-electro mechanical system (MEMS) inertial measurement units (IMU) has the ability to maintain GNSS carrier phase tracking in high dynamics.
Highlights
This paper presented a quantitative analysis of the impacts of the aiding information from different grades of inertial measurement units (IMU) by developing the inertial navigation system (INS) error propagation models of global navigation satellite systems (GNSS)/INS deep integrated systems in high dynamics
Under the assumption of uniform linear acceleration motion (100 g), it establishes the connections between all INS error sources and carrier phase tracking errors by the INS error dynamic equations and the INS-aided phase-locked loops’ (PLLs) model
The analysis shows that: the major error sources, which affect the carrier phase tracking accuracy in high dynamics, are the initial attitude errors, accelerometer scale factors, gyro noise and g-sensitivity errors
Summary
High dynamics is usually interpreted as high values for velocity and its derivatives. To the authors’ knowledge, the existing models do not fully consider INS error sources and cannot correctly reflect the error transformation of INS in the tracking loop [16,17,18]. They cannot be directly used for quantitative analysis of the impact of the INS on the receiver tracking loop, especially for high dynamics. The transfer function between the error sources and the phase-locked loops’ (PLLs) tracking error has established, and the negative effects of the inertial aiding information from different grades of INS in low dynamics have been quantitatively assessed, which were not applied in high dynamics
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