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A Simplified Baseband Prefilter Model with Adaptive Kalman Filter for Ultra-Tight COMPASS/INS Integration
College of Mechatronics and Automation, National University of Defense Technology, Changsha 410073, China
Advance Technology Labs, Wipro Technologies, Chennai, India
* Author to whom correspondence should be addressed.
Received: 18 May 2012; in revised form: 19 June 2012 / Accepted: 27 June 2012 / Published: 17 July 2012
Abstract: COMPASS is an indigenously developed Chinese global navigation satellite system and will share many features in common with GPS (Global Positioning System). Since the ultra-tight GPS/INS (Inertial Navigation System) integration shows its advantage over independent GPS receivers in many scenarios, the federated ultra-tight COMPASS/INS integration has been investigated in this paper, particularly, by proposing a simplified prefilter model. Compared with a traditional prefilter model, the state space of this simplified system contains only carrier phase, carrier frequency and carrier frequency rate tracking errors. A two-quadrant arctangent discriminator output is used as a measurement. Since the code tracking error related parameters were excluded from the state space of traditional prefilter models, the code/carrier divergence would destroy the carrier tracking process, and therefore an adaptive Kalman filter algorithm tuning process noise covariance matrix based on state correction sequence was incorporated to compensate for the divergence. The federated ultra-tight COMPASS/INS integration was implemented with a hardware COMPASS intermediate frequency (IF), and INS’s accelerometers and gyroscopes signal sampling system. Field and simulation test results showed almost similar tracking and navigation performances for both the traditional prefilter model and the proposed system; however, the latter largely decreased the computational load.
Keywords: COMPASS; ultra-tight COMPASS/INS integration; simplified prefilter model; adaptive Kalman filter
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MDPI and ACS Style
Luo, Y.; Wu, W.; Babu, R.; Tang, K.; Luo, B. A Simplified Baseband Prefilter Model with Adaptive Kalman Filter for Ultra-Tight COMPASS/INS Integration. Sensors 2012, 12, 9666-9686.
Luo Y, Wu W, Babu R, Tang K, Luo B. A Simplified Baseband Prefilter Model with Adaptive Kalman Filter for Ultra-Tight COMPASS/INS Integration. Sensors. 2012; 12(7):9666-9686.
Luo, Yong; Wu, Wenqi; Babu, Ravindra; Tang, Kanghua; Luo, Bing. 2012. "A Simplified Baseband Prefilter Model with Adaptive Kalman Filter for Ultra-Tight COMPASS/INS Integration." Sensors 12, no. 7: 9666-9686.