This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Performance Analysis of Single-Frequency Single-Epoch GNSS/INS Integrated Navigation in Typical Urban Environments
Technical Paper
2020-01-5181
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
With the rapid development of multi-constellation GNSS, GNSS positioning has been widely applied in several fields. In urban environment, GNSS signals are vulnerable to external interference, and the centimeter-level accuracy of GNSS positioning cannot be obtained to extent the required for automatic driving. To improve the accuracy of position estimation in urban environments, the integration of GNSS and inertial navigation system was examined in this study, and the single-frequency, single-epoch positioning performance of single GNSS and GNSS/INS integrated navigation was analyzed through dynamic GNSS and IMU data collected from a vehicle. The experimental results showed that the efficiency ratio of GNSS data was 99.80% even when the GPS, GLONASS and BDS were used in an urban environment; moreover, the utilization rate of the GNSS data was only 97.37% because of low-accuracy observations caused by the complex urban environment. In the urban environment, the positioning accuracy of a single GNSS was reduced, and the integration of GNSS and inertial navigation system could improve the performance of single GNSS positioning. The results indicated that the performance of loosely coupled of GNSS/INS is affected if the positioning solution has severe bias because of incorrectly fixed ambiguity. Compared with other methods, the tightly coupled of GNSS/INS can obtain the optimal position solution in typical urban environments.
Authors
Citation
Chai, D., Yu, M., and Liu, Y., "Performance Analysis of Single-Frequency Single-Epoch GNSS/INS Integrated Navigation in Typical Urban Environments," SAE Technical Paper 2020-01-5181, 2020, https://doi.org/10.4271/2020-01-5181.Also In
References
- Godha , S. , and Cannon , M. GPS/MEMS INS Integrated System for Navigation in Urban Areas GPS Solutions 11 193 203 2007
- He , H. , Li , L. , Yang , Y. , Xu , J. et al. Performance Assessment of Single- and Dual-Frequency BeiDou/GPS Single-Epoch Kinematic Positioning GPS Solution 18 393 403 2014
- Pirti , A. , Gumus , K. , Erkaya , H. , Hosbas , R. et al. Evaluating Repeatability of RTK GPS/GLONASS Near/Under Forest Environment Croation Journal of Forest Engineering 31 23 33 2010
- Chai , D. , Chen , G. , Wang , S. , and Lu , X. Loosely Coupled GNSS/INS Integration Based on an Auto Regressive Model in a Data Gap Environment Acta Geodaetica et Geophysica 2018
- Han , H. , Wang , J. , Wang , J. , and Tan , X. Performance Analysis on Carrier Phase-Based Tightly-Coupled GPS/BDS/INS Integration in GNSS Degraded and Denied Environments Sensors 15 8685 8711 2015
- Hide , C. and Moore , T. GPS and Low-Cost INS Integration for Positioning in the Urban Environment Proceedings of ION GNSS 2005 USA Sept. 13-16, 2005
- Li , T. , Zhang , H. , Niu , X. , and Zhang , Q. Performance Analysis of Tightly Coupled RTK/INS Algorithm in Case of Insufficient Number of Satellites Geomatics and Information Science of Wuhan University 43 478 484 2018
- De , B. , and Tiberius , C. Real-Time Multi-GNSS Single-Frequency Precise Point Positioning GPS Solutions 21 1791 1803 2017
- Scherzinger , B. Robust Positioning with Single Frequency Inertially Aided RTK Proceedings of the National Technical Meeting of the Institute of Navigation 2686 2689 2002
- Yu , H. , Han , H. , Wang , J. , Xiao , H. et al. Single-Frequency GPS/BDS RTK and INS Ambiguity Resolution and Positioning Performance Enhanced with Positional Polynomial Fitting Constraint Remote Sensing 12 2374 2400 2020
- Chai , D. , Chen , G. , Wang , S. , and Lu , X. A New Single-Epoch Method for Resolving GNSS Ambiguity with Segmented Search in Short Baseline Advances in Space Research 62 30 43 2018
- Duan , J. , and Shen , Y. An Algorithm of Combined GPS/GLONASS Static Relative Positioning Acta Geodaetica et Cartographica Sinica 41 825 830 2012
- Teunissen , P. The Least-Squares Ambiguity Decorrelation Adjustment: A Method for Fast GPS Integer Ambiguity Estimation Journal of Geodesy 70 65 82 1995
- Li , P. , and Zhang , X. Precise Point Positioning with Partial Ambiguity Fixing Sensors 15 13627 13643 2015
- Shin , E. 2001