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Performance Analysis of Real-Time GPS/Galileo Precise Point Positioning Integrated with Inertial Navigation System
Lei Zhao1, Paul Blunt1, Lei Yang1
1Nottingham Geospatial Institute, The University of Nottingham, Nottingham NG7 2TU, UK.
Sensors (Basel, Switzerland)
|March 11, 2023
Summary
Global Navigation Satellite System (GNSS) precise point positioning (PPP) integrated with inertial navigation systems (INS) enhances navigation accuracy. Applying uncombined bias products significantly improves real-time PPP/INS performance, especially during signal outages.
Area of Science:
- Geomatics Engineering
- Navigation Systems
- Satellite Geodesy
Background:
- Global Navigation Satellite System (GNSS) precise point positioning (PPP) and inertial navigation system (INS) integration offers robust navigation solutions, particularly when GNSS signals are blocked.
- Advancements in GNSS and PPP modeling have spurred the development of diverse PPP/INS integration methodologies.
Purpose of the Study:
- To evaluate the real-time performance of GPS/Galileo zero-difference ionosphere-free (IF) PPP/INS integration utilizing uncombined bias products.
- To assess the impact of carrier phase ambiguity resolution (AR) on PPP/INS positioning accuracy under various environmental conditions.
Main Methods:
- Real-time GPS/Galileo IF PPP/INS integration using Centre National d'Etudes Spatiales (CNES) products for orbits, clocks, and uncombined biases.
- Six positioning modes were tested: standalone PPP, loosely coupled integration (LCI), and tightly coupled integration (TCI), with and without ambiguity resolution (AR).
- Positioning tests were conducted using a tactical-grade inertial measurement unit (IMU) in an open-sky train scenario and complex urban van scenarios.
Main Results:
- In open-sky conditions, ambiguity-float PPP/INS LCI and TCI achieved centimeter-level accuracy (8.5, 5.7, 4.9 cm N/E/U).
- Ambiguity resolution (AR) significantly improved positioning accuracy, reducing east error by up to 47% for PPP-AR/INS TCI.
- In urban environments with signal interruptions, TCI demonstrated superior performance (32, 29, 41 cm N/E/U) and prevented solution re-convergence issues.
Conclusions:
- Uncombined bias products enhance real-time PPP/INS performance and enable effective ambiguity resolution.
- Tightly coupled integration (TCI) provides the most robust and accurate positioning, especially in challenging GNSS-challenged environments.
- The study validates the benefits of integrating PPP/INS with uncombined bias correction for reliable navigation.
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