State-space measurement update for GNSS/INS integrated navigation

DOI10.1155/2020/3675824MaRDI QIDQ2004222zbMATH OpenOpenAlexFDO

Authors Yanyan Li

Publication date 14 October 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2020/3675824

Mathematics Subject Classification ID

Signal theory (characterization, reconstruction, filtering, etc.) (94A12)

Review text

Summary: This paper theoretically derives the equivalence conditions for the loosely and tightly coupled GNSS/INS integration algorithms. Firstly, the equivalence is proved when using single epoch GNSS measurements, which means the GNSS processor provides standalone solution. Then, the equivalence proof is further extended for the filtering solutions, which are usually applied for differential GNSS and precise point positioning. Based on these, different state and measurement models for GNSS/INS integration navigation are summarized, and natural differences among these models are discussed. This indicates that once the same measurement and predict information are used, the integration would be equivalent no matter what kind of coupling schemes are used. A flight dataset with GNSS and tactical IMU data is used to evaluate the equivalence and discrepancies among four different measurement models, and the results confirm the theoretical derivations.

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Cites work

• Critical Issues on Kalman Filter with Colored and Correlated System Noises
• Error equations of inertial navigation
• Principles of GNSS, inertial, and multisensor integrated navigation systems.

Cited in

(3)

• A quadratic interpolation-based variational Bayesian algorithm for measurement information lost in underwater navigation
• Deduction of a quadratic velocity field and its application to rolling force of extra-thick plate
• An approach to benchmarking of loosely coupled low-cost navigation systems

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