Aiming at improve the performance of ultra-tightly coupled structures of SINS/GPS under challenging environments, a new MEMS-SINS (MINS)/GPS ultra-tightly coupled structure is proposed. The time-space difference carrier phase velocity (TSDCP-v) is used to assist the carrier loop, improving the carrier tracking accuracy. The TSDCP-v and the carrier smoothed pseudorange (CSP) are the measurements of integrated navigation filter, improving the measurements accuracy. The second-order Taylor expansion of the CSP is processed by the unscented Kalman filter (UKF), reducing the nonlinear error. The proposed ultra-tightly coupled system has higher signal tracking performance and navigation performance in low-precision MINS, highly dynamic and strong interference environments, meanwhile more simple model and higher realizability than the existing structures.
A High-Precision Scheme for MINS/GPS Ultra-Tight Integration System
Lect. Notes Electrical Eng.
2021-10-30
14 pages
Article/Chapter (Book)
Electronic Resource
English
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