Modeling and Quantitative Analysis of GNSS/INS Deep Integration Tracking Loops in High Dynamics

To meet the requirements of global navigation satellite systems (GNSS) precision applications in high dynamics, this paper describes a study on the carrier phase tracking technology of the GNSS/inertial navigation system (INS) deep integration system. The error propagation models of INS-aided carrier tracking loops are modeled in detail in high dynamics. Additionally, quantitative analysis of carrier phase tracking errors caused by INS error sources is carried out under the uniform high dynamic linear acceleration motion of 100 g. Results show that the major INS error sources, affecting the carrier phase tracking accuracy in high dynamics, include initial attitude errors, accelerometer scale factors, gyro noise and gyro g-sensitivity errors. The initial attitude errors are usually combined with the receiver acceleration to impact the tracking loop performance, which can easily cause the failure of carrier phase tracking. The main INS error factors vary with the vehicle motion direction and the relative position of the receiver and the satellites. The analysis results also indicate that the low-cost micro-electro mechanical system (MEMS) inertial measurement units (IMU) has the ability to maintain GNSS carrier phase tracking in high dynamics.