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Sensors 2016, 16(5), 627; doi:10.3390/s16050627

Tracking Architecture Based on Dual-Filter with State Feedback and Its Application in Ultra-Tight GPS/INS Integration

School of Automation, Beijing Institute of Technology (BIT), Beijing 100081, China
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Author to whom correspondence should be addressed.
Academic Editor: Vittorio M.N. Passaro
Received: 28 January 2016 / Revised: 24 April 2016 / Accepted: 26 April 2016 / Published: 2 May 2016
(This article belongs to the Section Physical Sensors)

Abstract

If a Kalman Filter (KF) is applied to Global Positioning System (GPS) baseband signal preprocessing, the estimates of signal phase and frequency can have low variance, even in highly dynamic situations. This paper presents a novel preprocessing scheme based on a dual-filter structure. Compared with the traditional model utilizing a single KF, this structure avoids carrier tracking being subjected to code tracking errors. Meanwhile, as the loop filters are completely removed, state feedback values are adopted to generate local carrier and code. Although local carrier frequency has a wide fluctuation, the accuracy of Doppler shift estimation is improved. In the ultra-tight GPS/Inertial Navigation System (INS) integration, the carrier frequency derived from the external navigation information is not viewed as the local carrier frequency directly. That facilitates retaining the design principle of state feedback. However, under harsh conditions, the GPS outputs may still bear large errors which can destroy the estimation of INS errors. Thus, an innovative integrated navigation filter is constructed by modeling the non-negligible errors in the estimated Doppler shifts, to ensure INS is properly calibrated. Finally, field test and semi-physical simulation based on telemetered missile trajectory validate the effectiveness of methods proposed in this paper. View Full-Text
Keywords: baseband signal preprocessing; dual-filter; state feedback; ultra-tight GPS/INS integration; navigation filter with expanded dimension baseband signal preprocessing; dual-filter; state feedback; ultra-tight GPS/INS integration; navigation filter with expanded dimension
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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. (CC BY 4.0).

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Zhang, X.; Miao, L.; Shao, H. Tracking Architecture Based on Dual-Filter with State Feedback and Its Application in Ultra-Tight GPS/INS Integration. Sensors 2016, 16, 627.

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