A MEMS-INS assisted GNSS vector tracking loop for robust navigation based on cubature Kalman Filter-Reference-Cited by-同舟云学术

A MEMS-INS assisted GNSS vector tracking loop for robust navigation based on cubature Kalman Filter

Published:2022-09-29 Issue:3-4 Volume:56 Page:529-536
ISSN:0020-2940
Container-title:Measurement and Control
language:en
Short-container-title:Measurement and Control

Author:

Liu Wei¹,Mou Minghui¹,Hu Yuan²^ORCID,Huang Hua¹,Shi Yihang¹,Wang Shengzheng¹

Affiliation:

1. Merchant Marine College, Shanghai Maritime University, Shanghai, China

2. College of Engineering Science and Technology, Shanghai Ocean University, Shanghai, China

Abstract

The occlusion of shade leads to the intermittent reception of satellite signals, which subsequently results in a decline of the positioning accuracy of Global Navigation Satellite System (GNSS). In order to improve the accuracy of positioning and ensure the continuity of navigation results in weak signal environment, a cubature Kalman Filter (CKF)-based micro-electro mechanical-system (MEMS) grade inertial navigation system (INS) assisted GNSS vector tracking (VT) loop is proposed in this paper. Combining effective GNSS measurements and INS information, attitude, velocity, and position results are predicted by CKF, and the pseudo-range results from navigation filter are fed back into the VT loop. The field tests show that the proposed CKF-based MEMS-INS assisted GNSS VT loop can run continuously and stably in weak signal environment with higher navigation accuracy.

Funder

Natural Science Foundation of Shanghai

National Natural Science Foundation of China

national key research and development program of china

Publisher

SAGE Publications

Subject

Applied Mathematics,Control and Optimization,Instrumentation

Link

http://journals.sagepub.com/doi/pdf/10.1177/00202940221095533

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