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首页> 外文会议>Proceedings of the 22nd international technical meeting of the Satellite Division of the Institute of Navigation (ION GNSS 2009) >Tightly Coupled Processing of Precise Point Position(PPP)and INS Data
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Tightly Coupled Processing of Precise Point Position(PPP)and INS Data

机译：精确点位置（PPP）和INS数据的紧密耦合处理

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This paper looks at the implementation and results from processing un-differenced GPS data(PPP)with Inertial Measurement Unit(IMU)data using a tightly coupled filter in an airborne environment. rnWith the use of precise orbit and clock products,PPP has matured from a research topic to a practical GPS processing methodology.The major advantage of PPP GPS processing is that decimeter level accuracy can be achieved globally without any base station.The major drawback of PPP lies in the fact that the solution is slow to converge compared to conventional differential GPS. This can be a serious disadvantage for airborne missions with intermittent losses of lock or poor satellite geometry associated with turns.In fact,one of the principal time and cost constraints in conventional GPS-based airborne mapping lies in the necessity to maintain shallow bank angles on turns,typically less than 30 degrees.With a tightly coupled PPP/INS filter,results can significantly improve during periods of poor satellite geometry or after losses of lock.For this investigation,a tightly coupled PPP/INS filter was implemented in NovAtel’s Inertial Explorer post processing software package and results from a variety of airborne missions are presented. rnUsing this methodology,multiple data sets from an airborne environment were examined.Bank angles of 45 and 70 degrees were implemented on every turn within actual airborne surveys by removing(in software)lower elevation satellites during the turns.The results are then compared to a reference trajectory and the position and attitude degradation examined.
机译：本文探讨了在机载环境中使用紧密耦合滤波器通过惯性测量单元（IMU）数据处理未差分GPS数据（PPP）的实现和结果。 rn通过使用精确的轨道和时钟产品，PPP已从研究主题发展为实用的GPS处理方法.PPP GPS处理的主要优点是，无需任何基站即可在全球范围内实现分米级精度.PPP的主要缺点在于，与常规差分GPS相比，该解决方案收敛速度慢。对于具有间歇性失锁或与转弯相关的不良卫星几何形状的空中任务，这可能是一个严重的缺点。实际上，传统的基于GPS的空中地图绘制的主要时间和成本约束之一在于必须保持地面上的浅倾斜角旋转，通常小于30度。使用紧密耦合的PPP / INS滤波器，在卫星几何形状较差或失锁后，结果可以显着改善。对于此研究，在NovAtel的Inertial Explorer中实现了紧密耦合的PPP / INS滤波器介绍了后处理软件包以及各种空中任务的结果。 rn使用这种方法，检查了来自机载环境的多个数据集。在实际机载勘测中，通过在转弯过程中移除（在软件中）低海拔卫星，在每个转弯处分别实现了45度和70度的倾斜角。参考轨迹以及位置和姿态退化。

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