An adaptive deep-coupled GNSS/INS navigation system with hybrid pre-filter processing

作者：Wu, Mouyan; Ding, Jicheng^*; Zhao, Lin^*; Kang, Yingyao; Luo, Zhibin

来源：Measurement Science and Technology, 2018, 29(2): 025103.

DOI：10.1088/1361-6501/aa9672

• deeply-coupled
• pre-filter
• hybrid
• accuracy
• robustness

The deep-coupling of a global navigation satellite system (GNSS) with an inertial navigation system (INS) can provide accurate and reliable navigation information. There are several kinds of deeply-coupled structures. These can be divided mainly into coherent and non-coherent pre-filter based structures, which have their own strong advantages and disadvantages, especially in accuracy and robustness. In this paper, the existing pre-filters of the deeply-coupled structures are analyzed and modified to improve them firstly. Then, an adaptive GNSS/INS deeply-coupled algorithm with hybrid pre-filters processing is proposed to combine the advantages of coherent and non-coherent structures. An adaptive hysteresis controller is designed to implement the hybrid pre-filters processing strategy. The simulation and vehicle test results show that the adaptive deeply-coupled algorithm with hybrid pre-filters processing can effectively improve navigation accuracy and robustness, especially in a GNSS-challenged environment.

• 出版日期2018-2
• 单位哈尔滨工程大学