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A Novel Linear Model Based on Code Approximation for GNSS/INS Ultra-Tight Integration System.

Zhe Yan1, Xiyuan Chen1, Xinhua Tang1

  • 1Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology, Ministry of Education, School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China.

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Summary
This summary is machine-generated.

This study introduces a new model for global navigation satellite system (GNSS)/inertial navigation system (INS) integration, improving positioning accuracy and stability. The novel approach enhances performance, especially during unstable tracking loops, by reducing code errors.

Keywords:
GNSS/INScode deviationnonlinear measurementultra-tight integration

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Area of Science:

  • Navigation Systems Engineering
  • Satellite Navigation
  • Inertial Navigation

Background:

  • Ultra-tightly coupled GNSS/INS navigation systems are superior but face challenges with complex, nonlinear observation models.
  • Existing models based on I/Q measurements can be highly complex, impacting system performance and stability.

Purpose of the Study:

  • To develop a novel, more stable, and accurate navigation model for GNSS/INS ultra-tight integration.
  • To address inherent nonlinearities and improve positioning accuracy and convergence characteristics.

Main Methods:

  • A new nonlinear model and linearization method are proposed, retaining second-order components for enhanced precision.
  • A novel method to approximate code-phase is introduced to mitigate positioning errors from code-loop deviation without new measurements.

Main Results:

  • The proposed model demonstrates higher positioning accuracy and better convergence compared to traditional methods.
  • The code-phase approximation significantly reduces the impact of code errors, particularly in unstable tracking loop conditions.

Conclusions:

  • The developed model and linearization technique offer improved integrity and stability for GNSS/INS ultra-tight integration.
  • Experimental validation confirms the effectiveness and superiority of the proposed methods for enhanced navigation performance.