Abstract
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.
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This work is funded by the Science and Technology on Electronic Information Control Laboratory under grant No. 2018-29.
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Ren, J., Zi, J., Li, J. (2022). A High-Precision Scheme for MINS/GPS Ultra-Tight Integration System. In: Yan, L., Duan, H., Yu, X. (eds) Advances in Guidance, Navigation and Control . Lecture Notes in Electrical Engineering, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-15-8155-7_352
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DOI: https://doi.org/10.1007/978-981-15-8155-7_352
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