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- Title
Robust INS/SFPPP-BDS tightly coupled navigation algorithm with adaptive cycle slip compensation model.
- Authors
Ma, Hangshuai; Wang, Rong; Xiong, Zhi; Liu, Jianye; Li, Chuanyi
- Abstract
The application of Beidou Satellite Navigation System (BDS) is developing rapidly. To satisfy the increasing demand for positioning performance, single-frequency precise point positioning (SFPPP) has been a focus in recent years. By introducing the SFPPP technique into the INS/BDS integrated system, higher navigation accuracy can be obtained. Cycle slip, which is caused by signal blockage during the measurement of the carrier phase, is a challenge for SFPPP application. In the INS/SFPPP-BDS integrated system, cycle slip can cause serious bias in BDS carrier phase measurements. In this paper, a new INS/SFBDS-PPP tightly coupled navigation system and a robust adaptive filtering method are proposed. Using a low-cost single-frequency receiver integrated with INS, an observation model was built based on the pseudo range and carrier phase by PPP preprocessing. The cycle slip was introduced into the state vector to improve the estimation precision. The test statistics, comprising the innovation and its covariance, were used to estimate the time at which cycle slip occurred and its amplitude to compensate for its effect on the observation. Finally, the proposed system model and algorithm are validated by simulation.
- Subjects
BEIDOU satellite navigation system; ROBUST control; ADAPTIVE filters; WAGES
- Publication
Journal of Algorithms & Computational Technology, 2019, Vol 13, pN.PAG
- ISSN
1748-3018
- Publication type
Article
- DOI
10.1177/1748301819833044