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首页> 美国卫生研究院文献>Sensors (Basel Switzerland) >Implementation and Analysis of Tightly Coupled Global Navigation Satellite System Precise Point Positioning/Inertial Navigation System (GNSS PPP/INS) with Insufficient Satellites for Land Vehicle Navigation
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Implementation and Analysis of Tightly Coupled Global Navigation Satellite System Precise Point Positioning/Inertial Navigation System (GNSS PPP/INS) with Insufficient Satellites for Land Vehicle Navigation

机译：陆地车辆导航用卫星不足的紧密耦合全球导航卫星系统精确点定位/惯性导航系统（GNSS PPP / INS）的实现和分析

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This paper implements and analyzes a tightly coupled single-frequency global navigation satellite system precise point positioning/inertial navigation system (GNSS PPP/INS) with insufficient satellites for land vehicle navigation using a low-cost GNSS receiver and a microelectromechanical system (MEMS)-based inertial measurement unit (IMU). For land vehicle navigation, it is inevitable to encounter the situation where insufficient satellites can be observed. Therefore, it is necessary to analyze the performance of tightly coupled integration in a GNSS-challenging environment. In addition, it is also of importance to investigate the least number of satellites adopted to improve the performance, compared with no satellites used. In this paper, tightly coupled integration using low-cost sensors with insufficient satellites was conducted, which provided a clear view of the improvement of the solution with insufficient satellites compared to no GNSS measurements at all. Specifically, in this paper single-frequency PPP was implemented to achieve the best performance, with one single-frequency receiver. The INS mechanization was conducted in a local-level frame (LLF). An extended Kalman filter was applied to fuse the two different types of measurements. To be more specific, in PPP processing, the atmosphere errors are corrected using a Saastamoinen model and the Center for Orbit Determination in Europe (CODE) global ionosphere map (GIM) product. The residuals of atmosphere errors are not estimated to accelerate the ambiguity convergence. For INS error mitigation, velocity constraints for land vehicle navigation are adopted to limit the quick drift of a MEMS-based IMU. Field tests with simulated partial and full GNSS outages were conducted to show the performance of tightly coupled GNSS PPP/INS with insufficient satellites: The results were classified as long-term (several minutes) and short-term (less than 1 min). The results showed that generally, with GNSS measurements applied, although the number of satellites was not enough, the solution still could be improved, especially with more than three satellites observed. With three GPS satellites used, the horizontal drift could be reduced to a few meters after several minutes. The 3D position error could be limited within 10 m in one minute when three GPS satellites were applied. In addition, a field test in an urban area where insufficient satellites were observed from time to time was also conducted to show the limited solution drift.
机译：本文采用低成本GNSS接收器和微机电系统（MEMS），实施并分析了紧密耦合的单频全球导航卫星系统精确点定位/惯性导航系统（GNSS PPP / INS），该卫星不足以用于陆地车辆导航。惯性测量单元（IMU）。对于陆地车辆导航，不可避免地会遇到观测不到卫星的情况。因此，有必要分析具有挑战性的GNSS环境中紧密耦合集成的性能。此外，与不使用任何卫星相比，研究为提高性能而采用的最少卫星数目也很重要。在本文中，使用了卫星数量不足的低成本传感器进行了紧密耦合的集成，与完全没有GNSS测量相比，卫星数量不足的解决方案的改进得到了清晰的认识。具体而言，本文采用一个单频接收机实现了单频PPP，以实现最佳性能。 INS机械化在本地框架（LLF）中进行。应用扩展的卡尔曼滤波器来融合两种不同类型的测量。更具体地说，在PPP处理中，使用Saastamoinen模型和欧洲轨道确定中心（CODE）全球电离层地图（GIM）产品来校正大气误差。估计大气误差的残差不会加速歧义收敛。为了减轻INS错误，采用了陆地车辆导航的速度约束来限制基于MEMS的IMU的快速漂移。进行了模拟的部分GNSS和全部GNSS中断的现场测试，以显示紧密耦合的GNSS PPP / INS在卫星不足的情况下的性能：结果分为长期（几分钟）和短期（不到1分钟）两类。结果表明，一般而言，使用GNSS测量，尽管卫星数量不够，但仍可以改善解决方案，尤其是观察到三颗以上的卫星时。使用三颗GPS卫星，几分钟后水平漂移可以减小到几米。当应用三颗GPS卫星时，可以在一分钟内将3D位置误差限制在10 m以内。此外，还对不时观察到卫星不足的市区进行了现场测试，以显示有限的溶液漂移。

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