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A New Inertial Aid Method for High Dynamic Compass Signal Tracking Based on a Nonlinear Tracking Differentiator
College of Mechanical Engineering and Automation, National University of Defense Technology, Changsha 410073, Hunan, China
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Received: 14 May 2012; in revised form: 1 June 2012 / Accepted: 1 June 2012 / Published: 7 June 2012
Abstract: In Compass/INS integrated navigation systems, feedback inertial navigation solutions to baseband tracking loops may eliminate receiver dynamic effects, and effectively improve the tracking accuracy and sensitivity. In the conventional inertially-aided tracking loop, the satellite-receiver line-of-sight velocity is used directly to adjust local carrier frequency. However, if the inertial solution drifts, the phase tracking error will be enlarged. By using Kalman filter based carrier phase tracking loop, this paper introduces a new inertial aid method, in which the line-of-sight jerk obtained from inertial acceleration by a nonlinear tracking differentiator is used to adjust relevant parameters of the Kalman filter’s process noise matrix. Validation is achieved through high dynamic Compass B3 signal with line-of-sight jerk of 10 g/s collected by a GNSS simulator. Experimental results indicate that the new inertial aid method proposed in this paper is free of the impact of the receiver dynamic and inertial errors. Therefore, when the integrated navigation system is starting or re-tracking after losing lock, the inertial error is absent from the navigation solution correction that induces large drift, and the new aid method proposed in this paper can track highly dynamic signals.
Keywords: high dynamics; Compass/INS integrated navigation system; inertial aiding; nonlinear tracking differentiator
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MDPI and ACS Style
Guo, Y.; Wu, W.; Tang, K. A New Inertial Aid Method for High Dynamic Compass Signal Tracking Based on a Nonlinear Tracking Differentiator. Sensors 2012, 12, 7634-7647.
Guo Y, Wu W, Tang K. A New Inertial Aid Method for High Dynamic Compass Signal Tracking Based on a Nonlinear Tracking Differentiator. Sensors. 2012; 12(6):7634-7647.
Guo, Yao; Wu, Wenqi; Tang, Kanghua. 2012. "A New Inertial Aid Method for High Dynamic Compass Signal Tracking Based on a Nonlinear Tracking Differentiator." Sensors 12, no. 6: 7634-7647.