A Novel Method for the Use of Carrier Smoothing in the Loosely Coupled GPS/INS Integration
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Abstract
The performance of the loosely coupled GPS/INS integration (LC) can be improved by the use of carrier measurements. However, the existing solutions are mostly based on the Real Time Kinematic (RTK) technique which requires an expensive base station for corrections. In this paper, a LC architecture with carrier smoothing is proposed for the use of carrier pseudorange without that station. The proposed architecture is based on the fact that carrier pseudorange can be smoothed by the combination of code and carrier pseudorange. Owing to absence of the base station, it is expected that this approach can achieve better results than the traditional approach does. Evaluation results demonstrate that the error in position of the proposed architecture are smaller than that of traditional architecture up to several meters.
Keywords
GPS/INS, carrier smoothing, loosely coupled
Article Details
References
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[2] Stempfhuber, W., and M. Buchholz. "A precise, low-cost RTK GNSS system tem for UAV applications." Conference on Unmanned Aerial Vehicle in Geomatics, Zürich. 2011.
[3] Godha, Saurabh. Performance evaluation of low cost MEMS-based IMU integrated with GPS for land vehicle navigation application. Library and Archives Canada Bibliothèque et Archives Canada, 2006.
[4] Shin, Eun-Hwan, and Naser El-Sheimy. Accuracy improvement of low cost INS/GPS for land applications. National Library of Canada Bibliothèque nationale du Canada, 2003.
[5] Falco, Gianluca, et al. "Performance analysis of constrained loosely coupled GPS/INS integration solutions." Sensors 12.11 (2012): 15983-16007.
[6] Misra, Pratap, and Per Enge. Global Positioning System: Signals, Measurements and Performance Second Edition. Lincoln, MA: Ganga-Jamuna Press, 2006.
[7] Akos, Dennis, Alexandru Ene, and Jonas Thor. "A prototyping platform for multi-frequency GNSS receivers." ION GPS/GNSS Proceedings (2003).
[8] Presti, Lo. "Can you list all the properties of the carrier-smoothing filter?." INSIDE GNSS 10.4, (2015): 32-37.