Modeling and Quantitative Analysis of GNSS/INS Deep Integration Tracking Loops in High Dynamics

Area of Science:

• Navigation Systems Engineering
• Satellite Navigation
• Inertial Navigation Systems

Background:

• High-dynamic applications demand precise Global Navigation Satellite Systems (GNSS) positioning.
• Deep integration of GNSS and Inertial Navigation Systems (INS) is crucial for meeting these demands.
• Carrier phase tracking in GNSS/INS is essential for high-accuracy navigation.

Purpose of the Study:

• To investigate carrier phase tracking technology in GNSS/INS deep integration systems under high dynamics.
• To model INS error propagation in carrier tracking loops during high-dynamic motion.
• To quantitatively analyze the impact of INS error sources on carrier phase tracking accuracy.

Main Methods:

• Detailed modeling of INS-aided carrier tracking loop error propagation in high dynamics.
• Quantitative analysis of carrier phase tracking errors under 100 g linear acceleration.
• Identification and evaluation of key INS error sources affecting tracking performance.

Main Results:

• Initial attitude errors, accelerometer scale factors, gyro noise, and gyro g-sensitivity are major INS error sources affecting high-dynamic carrier phase tracking.
• Initial attitude errors combined with receiver acceleration can lead to tracking loop failure.
• The influence of INS errors is dependent on vehicle motion and satellite geometry.

Conclusions:

• Low-cost micro-electro mechanical system (MEMS) inertial measurement units (IMU) demonstrate capability for maintaining GNSS carrier phase tracking in high-dynamic environments.
• Understanding INS error sources is critical for optimizing GNSS/INS integration in high-dynamic scenarios.
• Further research can refine error mitigation strategies for enhanced navigation precision.