A MEMS-INS assisted GNSS vector tracking loop for robust navigation based on cubature Kalman Filter
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 s...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2023-03-01
|
| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/00202940221095533 |
| _version_ | 1797859137888976896 |
|---|---|
| author | Wei Liu Minghui Mou Yuan Hu Hua Huang Yihang Shi Shengzheng Wang |
| author_facet | Wei Liu Minghui Mou Yuan Hu Hua Huang Yihang Shi Shengzheng Wang |
| author_sort | Wei Liu |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-09T21:25:39Z |
| format | Article |
| id | doaj.art-2ce2bf23e8fe4c8499bd71b86b0299ce |
| institution | Directory Open Access Journal |
| issn | 0020-2940 |
| language | English |
| last_indexed | 2024-04-09T21:25:39Z |
| publishDate | 2023-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Measurement + Control |
| spelling | doaj.art-2ce2bf23e8fe4c8499bd71b86b0299ce2023-03-27T15:36:46ZengSAGE PublishingMeasurement + Control0020-29402023-03-015610.1177/00202940221095533A MEMS-INS assisted GNSS vector tracking loop for robust navigation based on cubature Kalman FilterWei Liu0Minghui Mou1Yuan Hu2Hua Huang3Yihang Shi4Shengzheng Wang5Merchant Marine College, Shanghai Maritime University, Shanghai, ChinaMerchant Marine College, Shanghai Maritime University, Shanghai, ChinaCollege of Engineering Science and Technology, Shanghai Ocean University, Shanghai, ChinaMerchant Marine College, Shanghai Maritime University, Shanghai, ChinaMerchant Marine College, Shanghai Maritime University, Shanghai, ChinaMerchant Marine College, Shanghai Maritime University, Shanghai, ChinaThe 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.https://doi.org/10.1177/00202940221095533 |
| spellingShingle | Wei Liu Minghui Mou Yuan Hu Hua Huang Yihang Shi Shengzheng Wang A MEMS-INS assisted GNSS vector tracking loop for robust navigation based on cubature Kalman Filter Measurement + Control |
| title | A MEMS-INS assisted GNSS vector tracking loop for robust navigation based on cubature Kalman Filter |
| title_full | A MEMS-INS assisted GNSS vector tracking loop for robust navigation based on cubature Kalman Filter |
| title_fullStr | A MEMS-INS assisted GNSS vector tracking loop for robust navigation based on cubature Kalman Filter |
| title_full_unstemmed | A MEMS-INS assisted GNSS vector tracking loop for robust navigation based on cubature Kalman Filter |
| title_short | A MEMS-INS assisted GNSS vector tracking loop for robust navigation based on cubature Kalman Filter |
| title_sort | mems ins assisted gnss vector tracking loop for robust navigation based on cubature kalman filter |
| url | https://doi.org/10.1177/00202940221095533 |
| work_keys_str_mv | AT weiliu amemsinsassistedgnssvectortrackingloopforrobustnavigationbasedoncubaturekalmanfilter AT minghuimou amemsinsassistedgnssvectortrackingloopforrobustnavigationbasedoncubaturekalmanfilter AT yuanhu amemsinsassistedgnssvectortrackingloopforrobustnavigationbasedoncubaturekalmanfilter AT huahuang amemsinsassistedgnssvectortrackingloopforrobustnavigationbasedoncubaturekalmanfilter AT yihangshi amemsinsassistedgnssvectortrackingloopforrobustnavigationbasedoncubaturekalmanfilter AT shengzhengwang amemsinsassistedgnssvectortrackingloopforrobustnavigationbasedoncubaturekalmanfilter AT weiliu memsinsassistedgnssvectortrackingloopforrobustnavigationbasedoncubaturekalmanfilter AT minghuimou memsinsassistedgnssvectortrackingloopforrobustnavigationbasedoncubaturekalmanfilter AT yuanhu memsinsassistedgnssvectortrackingloopforrobustnavigationbasedoncubaturekalmanfilter AT huahuang memsinsassistedgnssvectortrackingloopforrobustnavigationbasedoncubaturekalmanfilter AT yihangshi memsinsassistedgnssvectortrackingloopforrobustnavigationbasedoncubaturekalmanfilter AT shengzhengwang memsinsassistedgnssvectortrackingloopforrobustnavigationbasedoncubaturekalmanfilter |