Tightly-coupled integration of a GNSS/INS system aided by the RAIM satellite selection algorithm

Shih Chien Hung, Shau Shiun Jan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this research, we focused on producing a tightly-coupled (TC) integrated navigation system using consumer-grade GNSS and INS. Measurements of two GNSS constellations, the global positioning system (GPS) and the BeiDou navigation satellite system (BDS), were adopted in order to increase and strengthen satellite availability and geometric distribution. The extended Kalman filter (EKF) was then introduced to play a data fusing role through blending the GNSS and INS measurements, which comprised the core of the entire integrated navigation system. In an urban environment scenario, however, the GNSS signal suffers from various errors, which may not only give rise to poor navigation performance but also lead to EKF divergence. Hence, to enhance and improve both the robustness of the EKF and navigation accuracy, the receiver autonomous integrity monitoring (RAIM) fault detection and an exclusion (FDE) algorithm are also adopted in this research for the purpose of removing abnormal GNSS measurements and maintaining the quality of the EKF state estimation. Finally, a series of experiments were conducted in various environments to verify the proposed TC integration system.

Original languageEnglish
Title of host publicationProceedings of the 33rd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2020
PublisherInstitute of Navigation
Pages1720-1725
Number of pages6
ISBN (Electronic)0936406267, 9780936406268
DOIs
Publication statusPublished - 2020
Event33rd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2020 - Virtual, Online
Duration: 2020 Sep 222020 Sep 25

Publication series

NameProceedings of the 33rd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2020

Conference

Conference33rd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2020
CityVirtual, Online
Period20-09-2220-09-25

All Science Journal Classification (ASJC) codes

  • Computer Science Applications
  • Software
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Tightly-coupled integration of a GNSS/INS system aided by the RAIM satellite selection algorithm'. Together they form a unique fingerprint.

Cite this