date: 2015-09-08T06:22:58Z
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pdf:docinfo:title: Tightly Coupled Integration of Ionosphere-Constrained Precise Point Positioning and Inertial Navigation Systems
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subject: The continuity and reliability of precise GNSS positioning can be seriously limited by severe user observation environments. The Inertial Navigation System (INS) can overcome such drawbacks, but its performance is clearly restricted by INS sensor errors over time. Accordingly, the tightly coupled integration of GPS and INS can overcome the disadvantages of each individual system and together form a new navigation system with a higher accuracy, reliability and availability. Recently, ionosphere-constrained (IC) precise point positioning (PPP) utilizing raw GPS observations was proven able to improve both the convergence and positioning accuracy of the conventional PPP using ionosphere-free combined observations (LC-PPP). In this paper, a new mode of tightly coupled integration, in which the IC-PPP instead of LC-PPP is employed, is implemented to further improve the performance of the coupled system. We present the detailed mathematical model and the related algorithm of the new integration of IC-PPP and INS. To evaluate the performance of the new tightly coupled integration, data of both airborne and vehicle experiments with a geodetic GPS receiver and tactical grade inertial measurement unit are processed and the results are analyzed. The statistics show that the new approach can further improve the positioning accuracy compared with both IC-PPP and the tightly coupled integration of the conventional PPP and INS.
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dc:title: Tightly Coupled Integration of Ionosphere-Constrained Precise Point Positioning and Inertial Navigation Systems
modified: 2015-09-08T06:22:58Z
cp:subject: The continuity and reliability of precise GNSS positioning can be seriously limited by severe user observation environments. The Inertial Navigation System (INS) can overcome such drawbacks, but its performance is clearly restricted by INS sensor errors over time. Accordingly, the tightly coupled integration of GPS and INS can overcome the disadvantages of each individual system and together form a new navigation system with a higher accuracy, reliability and availability. Recently, ionosphere-constrained (IC) precise point positioning (PPP) utilizing raw GPS observations was proven able to improve both the convergence and positioning accuracy of the conventional PPP using ionosphere-free combined observations (LC-PPP). In this paper, a new mode of tightly coupled integration, in which the IC-PPP instead of LC-PPP is employed, is implemented to further improve the performance of the coupled system. We present the detailed mathematical model and the related algorithm of the new integration of IC-PPP and INS. To evaluate the performance of the new tightly coupled integration, data of both airborne and vehicle experiments with a geodetic GPS receiver and tactical grade inertial measurement unit are processed and the results are analyzed. The statistics show that the new approach can further improve the positioning accuracy compared with both IC-PPP and the tightly coupled integration of the conventional PPP and INS.
pdf:docinfo:subject: The continuity and reliability of precise GNSS positioning can be seriously limited by severe user observation environments. The Inertial Navigation System (INS) can overcome such drawbacks, but its performance is clearly restricted by INS sensor errors over time. Accordingly, the tightly coupled integration of GPS and INS can overcome the disadvantages of each individual system and together form a new navigation system with a higher accuracy, reliability and availability. Recently, ionosphere-constrained (IC) precise point positioning (PPP) utilizing raw GPS observations was proven able to improve both the convergence and positioning accuracy of the conventional PPP using ionosphere-free combined observations (LC-PPP). In this paper, a new mode of tightly coupled integration, in which the IC-PPP instead of LC-PPP is employed, is implemented to further improve the performance of the coupled system. We present the detailed mathematical model and the related algorithm of the new integration of IC-PPP and INS. To evaluate the performance of the new tightly coupled integration, data of both airborne and vehicle experiments with a geodetic GPS receiver and tactical grade inertial measurement unit are processed and the results are analyzed. The statistics show that the new approach can further improve the positioning accuracy compared with both IC-PPP and the tightly coupled integration of the conventional PPP and INS.
pdf:docinfo:creator: Zhouzheng Gao, Hongping Zhang, Maorong Ge, Xiaoji Niu, Wenbin Shen, Jens Wickert, Harald Schuh
meta:author: Zhouzheng Gao, Hongping Zhang, Maorong Ge, Xiaoji Niu, Wenbin Shen, Jens Wickert, Harald Schuh
meta:creation-date: 2015-03-10T06:11:56Z
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Creation-Date: 2015-03-10T06:11:56Z
Author: Zhouzheng Gao, Hongping Zhang, Maorong Ge, Xiaoji Niu, Wenbin Shen, Jens Wickert, Harald Schuh
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dc:description: The continuity and reliability of precise GNSS positioning can be seriously limited by severe user observation environments. The Inertial Navigation System (INS) can overcome such drawbacks, but its performance is clearly restricted by INS sensor errors over time. Accordingly, the tightly coupled integration of GPS and INS can overcome the disadvantages of each individual system and together form a new navigation system with a higher accuracy, reliability and availability. Recently, ionosphere-constrained (IC) precise point positioning (PPP) utilizing raw GPS observations was proven able to improve both the convergence and positioning accuracy of the conventional PPP using ionosphere-free combined observations (LC-PPP). In this paper, a new mode of tightly coupled integration, in which the IC-PPP instead of LC-PPP is employed, is implemented to further improve the performance of the coupled system. We present the detailed mathematical model and the related algorithm of the new integration of IC-PPP and INS. To evaluate the performance of the new tightly coupled integration, data of both airborne and vehicle experiments with a geodetic GPS receiver and tactical grade inertial measurement unit are processed and the results are analyzed. The statistics show that the new approach can further improve the positioning accuracy compared with both IC-PPP and the tightly coupled integration of the conventional PPP and INS.
Keywords: global navigation satellite system (GNSS); inertial navigation system 
(INS); GNSS/INS tightly coupled integration; ionospheric-constrained precise point positioning; re-convergence

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dc:creator: Zhouzheng Gao, Hongping Zhang, Maorong Ge, Xiaoji Niu, Wenbin Shen, Jens Wickert, Harald Schuh
description: The continuity and reliability of precise GNSS positioning can be seriously limited by severe user observation environments. The Inertial Navigation System (INS) can overcome such drawbacks, but its performance is clearly restricted by INS sensor errors over time. Accordingly, the tightly coupled integration of GPS and INS can overcome the disadvantages of each individual system and together form a new navigation system with a higher accuracy, reliability and availability. Recently, ionosphere-constrained (IC) precise point positioning (PPP) utilizing raw GPS observations was proven able to improve both the convergence and positioning accuracy of the conventional PPP using ionosphere-free combined observations (LC-PPP). In this paper, a new mode of tightly coupled integration, in which the IC-PPP instead of LC-PPP is employed, is implemented to further improve the performance of the coupled system. We present the detailed mathematical model and the related algorithm of the new integration of IC-PPP and INS. To evaluate the performance of the new tightly coupled integration, data of both airborne and vehicle experiments with a geodetic GPS receiver and tactical grade inertial measurement unit are processed and the results are analyzed. The statistics show that the new approach can further improve the positioning accuracy compared with both IC-PPP and the tightly coupled integration of the conventional PPP and INS.
dcterms:created: 2015-03-10T06:11:56Z
Last-Modified: 2015-09-08T06:22:58Z
dcterms:modified: 2015-09-08T06:22:58Z
title: Tightly Coupled Integration of Ionosphere-Constrained Precise Point Positioning and Inertial Navigation Systems
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pdf:docinfo:keywords: global navigation satellite system (GNSS); inertial navigation system 
(INS); GNSS/INS tightly coupled integration; ionospheric-constrained precise point positioning; re-convergence

pdf:docinfo:modified: 2015-09-08T06:22:58Z
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creator: Zhouzheng Gao, Hongping Zhang, Maorong Ge, Xiaoji Niu, Wenbin Shen, Jens Wickert, Harald Schuh
dc:subject: global navigation satellite system (GNSS); inertial navigation system 
(INS); GNSS/INS tightly coupled integration; ionospheric-constrained precise point positioning; re-convergence

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meta:keyword: global navigation satellite system (GNSS); inertial navigation system 
(INS); GNSS/INS tightly coupled integration; ionospheric-constrained precise point positioning; re-convergence

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pdf:docinfo:created: 2015-03-10T06:11:56Z