INS-aiding information error modeling in GNSS/INS ultra-tight integration

GPS Solutions - Tập 28 - Trang 1-16 - 2023
Wei Gao1, Xingqun Zhan1, Rong Yang1
1School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China

Tóm tắt

In the ultra-tight integration system of the global navigation satellite system/ inertial navigation system (GNSS/INS), the error models of INS aiding information are significant to analyze the performance of system. However, it is difficult to comprehensively describe the error propagation process between INS and GNSS when using the traditional transfer functions and inertial computation formulas. To overcome the issues, a comprehensive error modeling scheme of INS aiding information for GNSS tracking loops is proposed from the state space design perspective. Using the proper integrated navigation filter derived in Earth-centered, Earth-fixed frame, the error propagation process from integrated navigation filter to INS-aiding information can be constructed, by taking the overall error sources into consideration. In addition, the error item of acceleration caused by rotations of the line-of-sight direction is analyzed, which is especially important for high-dynamic receivers or middle-orbit satellites positioning. Simulation and experiment results verify the effectiveness of the proposed error modeling method. This method has significant application potential for the performance analysis of tracking loops in GNSS/INS ultra-tight integration system.

Tài liệu tham khảo

Babu R, Wang J (2009) Ultra-tight GPS/INS/PL integration: a system concept and performance analysis. GPS Solutions 13(1):75–82. https://doi.org/10.1007/s10291-008-0097-9

Ban Y, Niu X, Zhang T, Zhang Q, Liu J (2017) Modeling and quantitative analysis of GNSS/INS deep integration tracking loops in high dynamics. Micromachines (Basel) 8(9):272. https://doi.org/10.3390/mi8090272

Cong L, Li X, Jin T, Yue S, Xue R (2016) An adaptive INS-aided PLL tracking method for GNSS receivers in harsh environments. Sensors (Basel) 16(2):146. https://doi.org/10.3390/s16020146

Dou J, Xu B, Dou L (2020) Performance assessment of GNSS scalar and vector frequency tracking loops. Optik 202:163552. https://doi.org/10.1016/j.ijleo.2019.163552

Lashley M, Bevly DM (2013) Performance comparison of deep integration and tight coupling. Navigation 60(3):159–178. https://doi.org/10.1002/navi.43

Liu B, Zhan X, Liu M (2018) GNSS/MEMS IMU ultra-tightly integrated navigation system based on dual-loop NCO control method and cascaded channel filters. IET Radar Sonar Navig 12(11):1241–1250. https://doi.org/10.1049/iet-rsn.2018.5169

Liu B, Gao Y, Gao Y, Tong K, Wu M (2022a) Non-consecutive GNSS signal tracking-based ultra-tight integration system of GNSS/INS for smart devices. GPS Solutions 26(3):82. https://doi.org/10.1007/s10291-022-01267-7

Liu B, Gao Y, Zhan X (2022b) Code phase tracking error based autonomous integrity monitoring for GNSS/INS ultra-tightly integrated system. Adv Sp Res 69(10):3785–3797. https://doi.org/10.1016/j.asr.2022.02.040

Narula L, LaChapelle DM, Murrian MJ, Wooten JM, Humphreys TE, de Toldi E, Morvant G, Lacambre JB (2020) TEX-CUP: the University of Texas challenge for urban positioning. In: IEEE/ION position, location and navigation symposium (PLANS), Portland, OR, USA, pp 277–284. https://doi.org/10.1109/PLANS46316.2020.9109873

Niu X, Ban Y, Zhang Q, Zhang T, Zhang H, Liu J (2015) Quantitative analysis to the impacts of IMU quality in GPS/INS deep integration. Micromachines 6(8):1082–1099. https://doi.org/10.3390/mi6081082

Qin F, Zhan X, Zhan L (2014) Performance assessment of a low-cost inertial measurement unit based ultra-tight global navigation satellite system/inertial navigation system integration for high dynamic applications. IET Radar Sonar Navig 8(7):828–836. https://doi.org/10.1049/iet-rsn.2013.0217

Qin H, Yue S, Cong L, Jin T (2019) A state-constrained tracking approach for Kalman filter-based ultra-tightly coupled GPS/INS integration. GPS Solutions 23(2):1–13. https://doi.org/10.1007/s10291-019-0844-0

Sun D, Petovello MG, Cannon ME (2008) GPS/reduced IMU with a local terrain predictor in land vehicle navigation. Int J Navig Obs 2008:1–15. https://doi.org/10.1155/2008/813821

Sun D, Petovello MG, Cannon ME (2010) Use of a reduced IMU to aid a GPS receiver with adaptive tracking loops for land vehicle navigation. GPS Solutions 14(4):319–329. https://doi.org/10.1007/s10291-009-0159-7

Sun D, Petovello MG, Cannon ME (2013) Ultratight GPS/reduced-IMU integration for land vehicle navigation. IEEE Trans Aerosp Electron Syst 49(3):1781–1791. https://doi.org/10.1109/taes.2013.6558019

Thompson BF, Lewis SW, Brown SA, Scott TM (2020) Computing GPS satellite velocity and acceleration from the broadcast navigation message. Navigation 66(4):769–779. https://doi.org/10.1002/navi.342

Wang X, Li Y (2012) An innovative scheme for SINS/GPS ultra-tight integration system with low-grade IMU. Aerosp Sci Technol 23(1):452–460. https://doi.org/10.1016/j.ast.2011.10.004

Wang K, Xu X, Gao W, Wang J (2020) Linearized in-motion alignment for a low-cost INS. IEEE Trans Aerosp Electron Syst 56(3):1917–1925. https://doi.org/10.1109/taes.2019.2936780

Wang K, Gao W, Xu X, Wang J (2023) Adaptive alignment for low-cost INS in ECEF frame under large initial attitude errors. NAVIG J Inst Navig. https://doi.org/10.33012/navi.554

Wei M, Schwarz KP (1990) A strapdown inertial algorithm using an earth-fixed Cartesian frame. Navigation 37(2):153–167. https://doi.org/10.1002/j.2161-4296.1990.tb01544.x

Wu Y, He C, Liu G (2020) On inertial navigation and attitude initialization in polar areas. Satell Navig. https://doi.org/10.1186/s43020-019-0002-4

Xie F, Sun R, Kang G, Qian W, Zhao J, Zhang L (2017) A jamming tolerant BeiDou combined B1/B2 vector tracking algorithm for ultra-tightly coupled GNSS/INS systems. Aerosp Sci Technol 70:265–276. https://doi.org/10.1016/j.ast.2017.08.019

Yang R, Ling K, Poh E, Morton YT (2017a) Generalized GNSS signal carrier tracking: part I—modeling and analysis. IEEE Trans Aerosp Electron Syst 53(4):1781–1797. https://doi.org/10.1109/taes.2017.2673998

Yang R, Morton YT, Ling K, Poh E (2017b) Generalized GNSS signal carrier tracking—part II: optimization and implementation. IEEE Trans Aerosp Electron Syst 53(4):1798–1811. https://doi.org/10.1109/taes.2017.2674198

Yang R, Xu D, Morton YT (2020) Generalized multifrequency GPS carrier tracking architecture: design and performance analysis. IEEE Trans Aerosp Electron Syst 56(4):2548–2563. https://doi.org/10.1109/taes.2019.2948535

Yang H, Zhou B, Wang L, Wei Q, Zhang R (2021) Design and implementation of an open-source MATLAB code for GNSS/MEMS-INS deep integrated navigation. Optik 242:166987. https://doi.org/10.1016/j.ijleo.2021.166987

Yu M, Lee J, Park H (1999) Comparison of SDINS in-flight alignment using equivalent error models. IEEE Trans Aerosp Electron Syst 35(3):1046–1054. https://doi.org/10.1109/7.784073

Zhang T, Niu X, Ban Y, Zhang H, Shi C, Liu J (2015) Modeling and development of INS-aided PLLs in a GNSS/INS deeply-coupled hardware prototype for dynamic applications. Sensors (Basel) 15(1):733–759. https://doi.org/10.3390/s150100733

Zhang T, Zhang H, Lin T, Yan K, Niu X (2016) Modeling and verifying the impact of time delay on INS-aided GNSS PLLs. GPS Solutions 20(4):725–736. https://doi.org/10.1007/s10291-015-0484-y

Thông tin
Thông tin xuất bản

GPS Solutions

Tập 28

1-16

Thông tin tác giả