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A New MIMU/GNSS Ultra-Tightly Coupled Integration Architecture for Mitigating Abrupt Changes of Frequency Tracking
Shiming Liu1, Sihai Li1, Qiangwen Fu1
1School of Automation, Northwestern Polytechnical University, Xi'an 710072, China.
Micromachines
|December 19, 2020
Summary
A new ultra-tightly coupled (UTC) architecture for micro-electromechanical inertial measurement units (MIMU) and global navigation satellite systems (GNSS) mitigates performance loss from frequency errors. This enhanced integration improves navigation solution stability and carrier-to-noise ratio estimation.
Area of Science:
- Navigation Systems Engineering
- Signal Processing
- Inertial Sensing Technology
Background:
- Abrupt frequency tracking errors in Global Navigation Satellite System (GNSS) receivers degrade carrier-to-noise ratio (C/N0) estimates and code discriminator accuracy.
- Micro-electromechanical inertial measurement unit (MIMU) and GNSS integration is crucial for robust navigation, but susceptible to signal disturbances.
Purpose of the Study:
- To introduce and evaluate a novel ultra-tightly coupled (UTC) integration architecture for MIMU/GNSS systems.
- To address and mitigate performance degradation caused by abrupt frequency tracking errors in GNSS signals.
Main Methods:
- Development of a new MIMU/GNSS UTC architecture featuring a large frequency error detector and a refined frequency processor.
- Implementation of an adaptive channel prefilter with multiple fading factors, replacing conventional prefilters.
- Quantitative evaluation of frequency error effects using theoretical analysis and Monte Carlo simulations.
- Performance assessment via numerical simulations on a highly dynamic trajectory.
Main Results:
- The proposed UTC architecture effectively suppresses navigation solution divergence and tracking lock loss during abrupt frequency error changes.
- Significant reduction in the deviation of C/N0 estimation was observed under dynamic conditions.
- Theoretical analysis and simulations confirmed the disruptive impact of large frequency errors on C/N0 and code discriminator estimation.
Conclusions:
- The novel MIMU/GNSS UTC architecture demonstrates superior resilience to frequency tracking errors compared to conventional methods.
- This integration approach enhances navigation system reliability and accuracy in challenging dynamic environments.
- The refined frequency processing and adaptive prefiltering are key to improving GNSS receiver performance under signal stress.
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