Efficient Quality Control Procedure for GNSS/INS Integrated Navigation System
This paper proposed an efficient quality control algorithm for the GNSS/INS integrated navigation system, the system therefore can be efficiently and reliably applied in complex urban environment with shelters, multipath, reflections and data loss. The qu
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Efficient Quality Control Procedure for GNSS/INS Integrated Navigation System Ling Yang, Yong Li and Youlong Wu
Abstract This paper proposed an efficient quality control algorithm for the GNSS/INS integrated navigation system, the system therefore can be efficiently and reliably applied in complex urban environment with shelters, multipath, reflections and data loss. The quality control algorithm consists of GNSS and INS modules. In order to reduce the adverse influence from abnormal GNSS data, a Kalman Filter with a Fault Detection and Exclusion (FDE) procedure is proposed to enhance the system reliability and stability. The stochastic model for Kalman Filter is determined by Allan Variance analysis to reduce the time dependent ramp error of INS data. In comparison with traditional GNSS/INS integrated system, the new system can detect and repair GNSS outliers in real-time and also can alleviate the INS ramp errors when GNSS signals are interfered with. In order to evaluate the performance of the proposed navigation system, a field test has been conducted in Sydney urban area. The performance of the proposed navigation system and the effectiveness of the FDE algorithm that was applied to the GNSS data with high fault rate and slight data loss were evaluated. The results show that the proposed algorithm with the optimal quality control design can give reliable navigation solution that is better than that with the normal quality control design.
Keywords Fault detection and exclusion Allan variance Abrupt error Slowly growing error
L. Yang (&) Y. Li Y. Wu School of Surveying and Geospatial Engineering, University of New South Wales, Sydney, Australia e-mail: [email protected] Y. Wu School of Mechanical Engineering, NUST, Nanjing 210094, China
J. Sun et al. (eds.), China Satellite Navigation Conference (CSNC) 2013 Proceedings, Lecture Notes in Electrical Engineering 245, DOI: 10.1007/978-3-642-37407-4_62, Ó Springer-Verlag Berlin Heidelberg 2013
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62.1 Introduction Global Navigation Satellite Systems (GNSS) have been widely used to satisfy the position and navigation requirements in many fields such as geodesy, marine and aviation. Inertial Navigation System (INS) is a self-contained system with high short-term stability, immune to jamming as well as interference. Consequently, INS can be integrated synergistically with GNSS so that short-term and long-term stabilities of INS and GNSS, respectively, can be exploited. When integrating measurements from GNSS and INS, Fault Detection and Exclusion (FDE) is an important and challenging problem, no matter which kind of integration algorithm is applied. Both abrupt and ramp errors contaminating in GNSS/INS measurements will disturb the accuracy of the mathematical model so as to ruin the optimality of the algorithm. It is for this reason FDE has being combined with various optimal estimation algorithm [1]. Some researchers are focusing on detecting and isolating faults within multiple sensors [2]. Other interests have b
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