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Sub-Optimality of the Prefilter in Deeply Coupled Integration of GPS and INS

机译：GPS和INS深度耦合集成中的预滤波器的次优

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摘要

A robust integrated receiver that integrates an Inertial Navigation System and a Global Positioning System and uses a Kalman filter to close the phase lock loops has been proposed recently in the form of an Ultra Tightly Coupled (UTC) receiver. One of the complexities of this receiver is establishing the mathematical relationship between the INS states and the GPS measurements. Many forms of the ultra tight coupling method have been proposed by linearizing these relationships to realize these highly non-linear relationships in the integrated system. Here, we analyze the optimality of such linearization and quantize how much accuracy is lost in the prefilter of a UTC receiver. The prefilter that models the relationship between the GPS signal quantities and receiver measurements is presented. A Posterior Cramer Rao Bound (PCRB) is derived. Simulation results show that the variance of the estimates from the prefilter is higher than the PCRB by as much as an order of magnitude.
机译：最近，以超紧密耦合（UTC）接收器的形式提出了一种鲁棒的集成接收器，其集成了惯性导航系统和全球定位系统并使用卡尔曼滤波器来闭合锁相环。这种接收器的复杂性之一是在INS状态和GPS测量之间建立数学关系。通过线性化这些关系以在集成系统中实现这些高度非线性的关系，已经提出了许多形式的超紧密耦合方法。在这里，我们分析了这种线性化的最优性，并量化了UTC接收器的预滤波器中损失了多少精度。提出了对GPS信号量和接收机测量值之间的关系进行建模的预滤波器。产生后克拉默饶界（PCRB）。仿真结果表明，预滤波器估计值的方差比PCRB高一个数量级。

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  • 来源
    《Navigation》 |2010年第3期|p.175-184|共10页
  • 作者

    SIVA SIVANANTHAN; JAY WEITZEN;

  • 作者单位

    ARCON Corporation, Waltham, MA 02451;

    rnUniversity of Massachusetts, Lowell, MA 01854;

  • 收录信息 美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
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