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Multi-antenna GNSS and INS Integrated Position and Attitude Determination without Base Station for Land Vehicles

Published online by Cambridge University Press:  26 September 2018

Xiaobo Cai ,
Houtse Hsu ,
Hua Chai ,
Leixiang Ding  and
Yong Wang
Xiaobo Cai
Affiliation:
(Faculty of Geomatics, East China University of Technology, Nanchang, China) (State Key Laboratory of Geodesy and Earth's Dynamics, Institute of Geodesy and Geophysics, Chinese Academy of Sciences, Wuhan, China) (University of Chinese Academy of Sciences, Beijing, China)
Houtse Hsu
Affiliation:
(State Key Laboratory of Geodesy and Earth's Dynamics, Institute of Geodesy and Geophysics, Chinese Academy of Sciences, Wuhan, China)
Hua Chai
Affiliation:
(State Key Laboratory of Geodesy and Earth's Dynamics, Institute of Geodesy and Geophysics, Chinese Academy of Sciences, Wuhan, China)
Leixiang Ding
Affiliation:
(State Key Laboratory of Geodesy and Earth's Dynamics, Institute of Geodesy and Geophysics, Chinese Academy of Sciences, Wuhan, China) (University of Chinese Academy of Sciences, Beijing, China)
Yong Wang*
Affiliation:
(State Key Laboratory of Geodesy and Earth's Dynamics, Institute of Geodesy and Geophysics, Chinese Academy of Sciences, Wuhan, China) (University of Chinese Academy of Sciences, Beijing, China)
*
(E-mail: ywang@whigg.ac.cn)
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Abstract

Precise Point Positioning/Inertial Navigation System (PPP/INS) integrated navigation based on PPP and low-accuracy INS is often used to provide position and attitude information for vehicle-mounted or airborne mobile mapping systems. With proper processing, the position accuracy of PPP/INS is comparable to that of Differential Global Navigation Satellite System (DGNSS)/INS, but the accuracy of the attitude, especially the yaw angle, cannot be guaranteed. However, the yaw angle is crucial for mobile mapping systems. To compensate for the insufficiency of PPP/INS, we have designed a Multi-Antenna GNSS (MAGNSS)/INS integrated navigation system. First, the attitude determination method using MAGNSS is presented in detail. Then, the MAGNSS attitude is combined with the PPP position and velocity as measurements for integration with the INS. Thus, PPP/INS integrated navigation was improved to MAGNSS/INS integrated navigation. Finally, a three-hour car-borne test was conducted to evaluate the performance of the proposed method. The results indicate that the attitude determined from MAGNSS is accurate and stable over time. Compared to PPP/INS, MAGNSS/INS integrated navigation can improve the attitude accuracy significantly because of the inclusion of MAGNSS attitude.

Keywords

Integrated navigationMAGNSS attitudePPP/INSMAGNSS/INS
Type
Research Article
Information
The Journal of Navigation , Volume 72 , Issue 2 , March 2019 , pp. 342 - 358
Copyright
Copyright © The Royal Institute of Navigation 2018 

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