New time-differenced carrier phase approach to GNSS/INS integration
The accuracy of navigation information is essential for modern transport systems. Such information includes position, velocity and attitude. Because of the physical characteristics of the operational environments, integration of GNSS with inertial measurement units (IMU) is commonly used. However, c...
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my.um.eprints.415222023-11-03T09:44:48Z http://eprints.um.edu.my/41522/ New time-differenced carrier phase approach to GNSS/INS integration Mao, Yi Sun, Rui Wang, Junhui Cheng, Qi Loo, Chu Kiong Ochieng, Washington Yotto QA75 Electronic computers. Computer science The accuracy of navigation information is essential for modern transport systems. Such information includes position, velocity and attitude. Because of the physical characteristics of the operational environments, integration of GNSS with inertial measurement units (IMU) is commonly used. However, conventional integrated algorithms suffer from low-quality GNSS measurements due to either inaccurate pseudoranges or difficulty of ambiguity resolution when using carrier phase measurements in urban environments. We propose a Time-Difference-Carrier-Phase (TDCP) derivation controlled GNSS/IMU integration scheme. The proposed algorithm enables a TDCP-based control vector construction, including relative position, velocity, heading and pitch, which makes it possible to obtain accurate changes in position, namely delta position, altitude and velocity estimations. These estimated changes are then used to feed a loosely coupled GNSS/IMU integration system. Real-world test results show that the proposed integrated navigation scheme is superior to the conventional algorithm, with accuracy improvements of more than 38% in 3D positioning, 30% in 3D velocity, 35% in roll, 44% in pitch and 39% in heading. Springer Verlag (Germany) 2022-10 Article PeerReviewed Mao, Yi and Sun, Rui and Wang, Junhui and Cheng, Qi and Loo, Chu Kiong and Ochieng, Washington Yotto (2022) New time-differenced carrier phase approach to GNSS/INS integration. GPS Solutions, 26 (4). ISSN 1080-5370, DOI https://doi.org/10.1007/s10291-022-01314-3 <https://doi.org/10.1007/s10291-022-01314-3>. 10.1007/s10291-022-01314-3 |
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QA75 Electronic computers. Computer science Mao, Yi Sun, Rui Wang, Junhui Cheng, Qi Loo, Chu Kiong Ochieng, Washington Yotto New time-differenced carrier phase approach to GNSS/INS integration |
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The accuracy of navigation information is essential for modern transport systems. Such information includes position, velocity and attitude. Because of the physical characteristics of the operational environments, integration of GNSS with inertial measurement units (IMU) is commonly used. However, conventional integrated algorithms suffer from low-quality GNSS measurements due to either inaccurate pseudoranges or difficulty of ambiguity resolution when using carrier phase measurements in urban environments. We propose a Time-Difference-Carrier-Phase (TDCP) derivation controlled GNSS/IMU integration scheme. The proposed algorithm enables a TDCP-based control vector construction, including relative position, velocity, heading and pitch, which makes it possible to obtain accurate changes in position, namely delta position, altitude and velocity estimations. These estimated changes are then used to feed a loosely coupled GNSS/IMU integration system. Real-world test results show that the proposed integrated navigation scheme is superior to the conventional algorithm, with accuracy improvements of more than 38% in 3D positioning, 30% in 3D velocity, 35% in roll, 44% in pitch and 39% in heading. |
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Article |
author |
Mao, Yi Sun, Rui Wang, Junhui Cheng, Qi Loo, Chu Kiong Ochieng, Washington Yotto |
author_facet |
Mao, Yi Sun, Rui Wang, Junhui Cheng, Qi Loo, Chu Kiong Ochieng, Washington Yotto |
author_sort |
Mao, Yi |
title |
New time-differenced carrier phase approach to GNSS/INS integration |
title_short |
New time-differenced carrier phase approach to GNSS/INS integration |
title_full |
New time-differenced carrier phase approach to GNSS/INS integration |
title_fullStr |
New time-differenced carrier phase approach to GNSS/INS integration |
title_full_unstemmed |
New time-differenced carrier phase approach to GNSS/INS integration |
title_sort |
new time-differenced carrier phase approach to gnss/ins integration |
publisher |
Springer Verlag (Germany) |
publishDate |
2022 |
url |
http://eprints.um.edu.my/41522/ |
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1781777953620754432 |
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13.160551 |