Performance Improvement of Time-Differenced Carrier Phase Measurement-Based Integrated GPS/INS Considering Noise Correlation

Sensors

Junesol Song¹  Younsil Kim²  Donguk Kim³  Changdon Kee³  Jungbeom Kim³  Minhuck Park³ 

[1] Ecole Nationale de l’Aviation Civile (ENAC), 31400 Toulouse, France;Korea Aerospace Research Institute (KARI), Daejeon 34133, Korea;School of Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University, Seoul 08826, Korea;

关键词: GPS/INS;    time-differenced carrier-phase;    noise correlation;   

DOI  :  10.3390/s19143084

来源: DOAJ

【 摘 要 】

In this study, we combined a time-differenced carrier phase (TDCP)-based global positioning system (GPS) with an inertial navigation system (INS) to form an integrated system that appropriately considers noise correlation. The TDCP-based navigation system can determine positions precisely based on high-quality carrier phase measurements without difficulty resolving integer ambiguity. Because the TDCP system contains current and previous information that violate the format of the conventional Kalman filter, a delayed state filter that considers the correlation between process and measurement noise is utilized to improve the accuracy and reliability of the TDCP-based GPS/INS. The results of a dynamic simulation and an experiment conducted to verify the efficacy of the proposed system indicate that it can achieve performance improvements of up to 70% and 60%, respectively, compared to the conventional algorithm.

【 授权许可】

Unknown