Benefits of Using Carrier Phase Tracking Errors for Ultratight GNSS/INS Integration: Precise Velocity Estimation and Fine IMU Calibration
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT(2022)
Abstract
We explore the benefits of using carrier phase tracking errors (CPTEs) as measurements for an ultratightly coupled (UTC) global navigation satellite system (GNSS)/inertial navigation system (INS) integration system. It is demonstrated that CPTEs and time-differenced carrier phases (TDCPs) are equivalent under the condition of zero initial phase error. Hence, for the UTC integration, precise velocity estimations at the millimeter/second level can be expected by using CPTEs as measurements. Furthermore, low-noise CPTE measurements benefit the fine online calibration of an inertial measurement unit (IMU). A high-accuracy IMU error model is included in the integration Kalman filter (IKF). The corresponding measurement model is derived in detail. A static field test and a dynamic road test are used to assess the performance. For the static test, standard deviations of velocity errors range from 2.29 to 3.17 mm/s. Standard deviations of velocity errors in the road test are found to be at the 6.01 & x2013;6.07 mm/s level for horizontal components and 8.05 mm/s for vertical components. Again, for the dynamic test, the effect of IMU calibration is evaluated via inertial coast errors. The results show that the combination of CPTEs and the high-accuracy error model exhibits the smallest free-inertial coast errors, as compared with other considered methods.
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Key words
Phase measurement,Measurement uncertainty,Global navigation satellite system,Receivers,Tracking loops,Frequency measurement,Velocity measurement,Carrier phase tracking errors (CPTEs),global navigation satellite system (GNSS),inertial measurement unit (IMU) error model,precise velocity estimation,ultratightly coupled (UTC) integration
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