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A Novel Linear Model Based on Code Approximation for GNSS/INS Ultra-Tight Integration System

The superiority of a global navigation satellite system (GNSS)/inertial navigation system (INS) ultra-tight integration navigation system has been widely verified. For those systems with centralized structure based on coherent-accumulation measurements (I/Q), the conversion from I/Q signals to navig...

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Autores principales: Yan, Zhe, Chen, Xiyuan, Tang, Xinhua
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7308920/
https://www.ncbi.nlm.nih.gov/pubmed/32512781
http://dx.doi.org/10.3390/s20113192
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author Yan, Zhe
Chen, Xiyuan
Tang, Xinhua
author_facet Yan, Zhe
Chen, Xiyuan
Tang, Xinhua
author_sort Yan, Zhe
collection PubMed
description The superiority of a global navigation satellite system (GNSS)/inertial navigation system (INS) ultra-tight integration navigation system has been widely verified. For those systems with centralized structure based on coherent-accumulation measurements (I/Q), the conversion from I/Q signals to navigation information is implemented by an observation equation. As a result, the model is highly complex and nonlinear, exerting essential influence on system performance. Based on the analysis of previous studies, a novel model and its linearization method are proposed, aiming at the integrity, stability and implicit nonlinear factors. Unlike the one-order precision in the common Jacobian matrix, two-order components are partly reserved in this model, which makes it possible for higher positioning accuracy and better convergence. For the positioning errors caused by ignoring code-loop deviation, a method to approximate code-phase is proposed without introducing new measurements. Consequently, the effect of code error can be significantly reduced, especially when the tracking loops are unstable. In the end, using real-sampled satellite signals, semi-physical experiments are carried out and the effectiveness and superiority of new methods are proved.
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spelling pubmed-73089202020-06-25 A Novel Linear Model Based on Code Approximation for GNSS/INS Ultra-Tight Integration System Yan, Zhe Chen, Xiyuan Tang, Xinhua Sensors (Basel) Article The superiority of a global navigation satellite system (GNSS)/inertial navigation system (INS) ultra-tight integration navigation system has been widely verified. For those systems with centralized structure based on coherent-accumulation measurements (I/Q), the conversion from I/Q signals to navigation information is implemented by an observation equation. As a result, the model is highly complex and nonlinear, exerting essential influence on system performance. Based on the analysis of previous studies, a novel model and its linearization method are proposed, aiming at the integrity, stability and implicit nonlinear factors. Unlike the one-order precision in the common Jacobian matrix, two-order components are partly reserved in this model, which makes it possible for higher positioning accuracy and better convergence. For the positioning errors caused by ignoring code-loop deviation, a method to approximate code-phase is proposed without introducing new measurements. Consequently, the effect of code error can be significantly reduced, especially when the tracking loops are unstable. In the end, using real-sampled satellite signals, semi-physical experiments are carried out and the effectiveness and superiority of new methods are proved. MDPI 2020-06-04 /pmc/articles/PMC7308920/ /pubmed/32512781 http://dx.doi.org/10.3390/s20113192 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Yan, Zhe
Chen, Xiyuan
Tang, Xinhua
A Novel Linear Model Based on Code Approximation for GNSS/INS Ultra-Tight Integration System
title A Novel Linear Model Based on Code Approximation for GNSS/INS Ultra-Tight Integration System
title_full A Novel Linear Model Based on Code Approximation for GNSS/INS Ultra-Tight Integration System
title_fullStr A Novel Linear Model Based on Code Approximation for GNSS/INS Ultra-Tight Integration System
title_full_unstemmed A Novel Linear Model Based on Code Approximation for GNSS/INS Ultra-Tight Integration System
title_short A Novel Linear Model Based on Code Approximation for GNSS/INS Ultra-Tight Integration System
title_sort novel linear model based on code approximation for gnss/ins ultra-tight integration system
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7308920/
https://www.ncbi.nlm.nih.gov/pubmed/32512781
http://dx.doi.org/10.3390/s20113192
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