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Sensors 2013, 13(12), 16406-16423; doi:10.3390/s131216406
Article

Performance Improvement of Receivers Based on Ultra-Tight Integration in GNSS-Challenged Environments

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Received: 11 October 2013 / Revised: 25 November 2013 / Accepted: 26 November 2013 / Published: 2 December 2013
(This article belongs to the Section Remote Sensors)
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Abstract

Ultra-tight integration was first proposed by Abbott in 2003 with the purpose of integrating a global navigation satellite system (GNSS) and an inertial navigation system (INS). This technology can improve the tracking performances of a receiver by reconfiguring the tracking loops in GNSS-challenged environments. In this paper, the models of all error sources known to date in the phase lock loops (PLLs) of a standard receiver and an ultra-tightly integrated GNSS/INS receiver are built, respectively. Based on these models, the tracking performances of the two receivers are compared to verify the improvement due to the ultra-tight integration. Meanwhile, the PLL error distributions of the two receivers are also depicted to analyze the error changes of the tracking loops. These results show that the tracking error is significantly reduced in the ultra-tightly integrated GNSS/INS receiver since the receiver’s dynamics are estimated and compensated by an INS. Moreover, the mathematical relationship between the tracking performances of the ultra-tightly integrated GNSS/INS receiver and the quality of the selected inertial measurement unit (IMU) is derived from the error models and proved by the error comparisons of four ultra-tightly integrated GNSS/INS receivers aided by different grade IMUs.
Keywords: ultra-tight integration; GNSS-challenged environment; phase lock loop; dynamic stress noise; quality of the IMU ultra-tight integration; GNSS-challenged environment; phase lock loop; dynamic stress noise; quality of the IMU
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Qin, F.; Zhan, X.; Du, G. Performance Improvement of Receivers Based on Ultra-Tight Integration in GNSS-Challenged Environments. Sensors 2013, 13, 16406-16423.

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