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Article overview
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High-Accuracy Absolute-Position-Aided Code Phase Tracking Based on RTK/INS Deep Integration in Challenging Static Scenarios | | Yiran Luo
; Li-Ta Hsu
; Yang Jiang
; Baoyu Liu
; Zhetao Zhang
; Yan Xiang
; Naser El-Sheimy
; | | Date: |
1 Jan 2023 | | Abstract: | Many multi-sensor navigation systems urgently demand accurate positioning
initialization from global navigation satellite systems (GNSSs) in challenging
static scenarios. However, ground blockages against line-of-sight (LOS) signal
reception make it difficult for GNSS users. Steering local codes in GNSS
basebands is a desiring way to correct instantaneous signal phase misalignment,
efficiently gathering useful signal power and increasing positioning accuracy.
Besides, inertial navigation systems (INSs) have been used as a
well-complementary dead reckoning (DR) sensor for GNSS receivers in kinematic
scenarios resisting various interferences since early. But little work focuses
on the case of whether the INS can improve GNSS receivers in static scenarios.
Thus, this paper proposes an enhanced navigation system deeply integrated with
low-cost INS solutions and GNSS high-accuracy carrier-based positioning. First,
an absolute code phase is predicted from base station information, and
integrated solution of the INS DR and real-time kinematic (RTK) results through
an extended Kalman filter (EKF). Then, a numerically controlled oscillator
(NCO) leverages the predicted code phase to improve the alignment between
instantaneous local code phases and received ones. The proposed algorithm is
realized in a vector-tracking GNSS software-defined radio (SDR). Real-world
experiments demonstrate the proposed SDR regarding estimating time-of-arrival
(TOA) and positioning accuracy. | | Source: | arXiv, 2301.00308 | | Services: | Forum | Review | PDF | Favorites | |
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