Tightly-Coupled Integration of Multi-GNSS Single-Frequency RTK and MEMS-IMU for Enhanced Positioning Performance.
作者： Tuan Li , Hongping Zhang , Xiaoji Niu , Zhouzheng Gao
DOI: 10.3390/S17112462
关键词:
摘要: Dual-frequency Global Positioning System (GPS) Real-time Kinematics (RTK) has been proven in the past few years to be a reliable and efficient technique obtain high accuracy positioning. However, there are still challenges for GPS single-frequency RTK, such as low reliability ambiguity resolution (AR) success rate, especially kinematic environments. Recently, multi-Global Navigation Satellite (multi-GNSS) applied enhance RTK performance terms of availability AR. In order further multi-GNSS reliability, continuity accuracy, low-cost micro-electro-mechanical system (MEMS) inertial measurement unit (IMU) is adopted this contribution. We tightly integrate GPS/BeiDou/GLONASS MEMS-IMU through extended Kalman filter (EKF), which directly fuses ambiguity-fixed double-differenced (DD) carrier phase observables IMU data. A field vehicular test was carried out evaluate impacts on AR positioning different configurations. Test results indicate that empirical rate single-epoch tightly-coupled RTK/INS integration over 99% even at an elevation cut-off angle 40°, corresponding position time series much more stable comparison with solution. Besides, GNSS outage simulations show continuous certain possible due INS bridging capability when not available.
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