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A New Approach for Computationally Efficient and Reliable Carrier Integer Ambiguity Resolution in GPS/INS.

机译：GPS / INS中计算有效且可靠的载波整数模糊度解析的新方法。

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摘要

This dissertation considers reliable real-time navigation with Real-Time Kinematic (RTK) GPS aided Inertial Navigation System (INS). To improve the accuracy and reliability of the aided INS, a Contemplative Real-Time framework (CRT) is proposed by combining the conventional Kalman Filtering and the Bayesian smoothing which considers all the navigation information over a time window. To facilitate the formulation and the solution of the CRT problem, a probabilistic graphical model called Factor Graph is utilized.;To enhance the robustness of the navigation system to faulty measurements, a novel robust graph optimization method referred as Hypothesis Test based Least Soft-thresholding Square (HT-LSS) is proposed. Due to the integer ambiguity inherent in the RTK GPS carrier phase measurements, in this work the classical Factor Graph modeling is extended for RTK GPS/INS applications by incorporating integer unknowns. Nonlinear Mixed Integer Least Square (NMILS) is required to solve the CRT RTK GPS/INS problem. The major contribution of this thesis is the proposition of a novel Common-Position-Shift method to reduce the computational cost of the NMILS in this problem. In addition, a robust real-time differential correction computation approach was developed for reliable DGPS/RTK applications with internet transported differential information in RTCM and Ntrip standard. The proposed algorithms are evaluate using data acquired with the sensor platform mounted on an automotive vehicle to illustrate the performance.
机译：本文考虑了采用实时运动（RTK）GPS辅助惯性导航系统（INS）进行可靠的实时导航。为了提高辅助惯性导航系统的准确性和可靠性，通过结合传统的卡尔曼滤波和贝叶斯平滑技术，提出了一种沉思的实时框架（CRT），该模型考虑了一个时间窗内的所有导航信息。为了促进CRT问题的表述和解决，使用了一个称为因子图的概率图形模型。为了提高导航系统对错误测量的鲁棒性，一种新颖的鲁棒图优化方法被称为基于最小假设阈值的假设检验。提出了正方形（HT-LSS）。由于RTK GPS载波相位测量固有的整数模糊性，在这项工作中，经典的因子图模型通过合并整数未知数而扩展到RTK GPS / INS应用。解决CRT RTK GPS / INS问题需要非线性混合整数最小二乘（NMILS）。本文的主要贡献是提出了一种新颖的共位置平移方法，以减少该问题中NMILS的计算成本。此外，还为可靠的DGPS / RTK应用开发了一种鲁棒的实时差分校正计算方法，该应用具有Internet传输的RTCM和Ntrip标准差分信息。使用安装在汽车上的传感器平台获取的数据评估提出的算法，以说明性能。

著录项

  • 作者

    Chen, Yiming.;

  • 作者单位

    University of California, Riverside.;

  • 授予单位 University of California, Riverside.;
  • 学科 Robotics.;Computer science.;Electrical engineering.
  • 学位 Ph.D.
  • 年度 2014
  • 页码 211 p.
  • 总页数 211
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

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