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Remote Sens. 2018, 10(1), 19; doi:10.3390/rs10010019

An Approach to Improve the Positioning Performance of GPS/INS/UWB Integrated System with Two-Step Filter

1
School of Environment Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China
2
School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China
*
Author to whom correspondence should be addressed.
Received: 10 October 2017 / Revised: 18 December 2017 / Accepted: 20 December 2017 / Published: 23 December 2017
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Abstract

The integration of Inertial Navigation System (INS) and Global Positioning System (GPS) single-point-positioning (SPP) mode cannot meet the requirements of high-accuracy navigation. Range observation through ultra-wideband (UWB) is an effective means to enhance the reliability and accuracy of GPS/INS integrated navigation, particularly in environments where GPS availability is poor. Because it is difficult for UWB signal to achieve large-scale intervention coverage, an enhanced GPS/INS/UWB integrated scheme with positioning error correction is proposed to improve the position accuracy in the UWB signal outage scenario. The position difference between the GPS/INS integrated solution and the GPS/INS/UWB integrated solution is predicated as the error correction for GPS/INS/UWB integrated navigation in a UWB signal challenging environment. Position correction information in the north and east directions is input to the two-step filter to decrease the error of GPS/INS integrated navigation in single-point-positioning. In order to validate the proposed method, a real experiment is conducted. The results indicate that the enhanced GPS/INS/UWB integrated scheme with positioning error correction is able to improve the position accuracy of GPS/INS/UWB integrated navigation when UWB signal is unavailable. View Full-Text
Keywords: ultra-wideband; GPS/INS/UWB integrated system; error correction; two-step filter ultra-wideband; GPS/INS/UWB integrated system; error correction; two-step filter
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Li, Z.; Wang, R.; Gao, J.; Wang, J. An Approach to Improve the Positioning Performance of GPS/INS/UWB Integrated System with Two-Step Filter. Remote Sens. 2018, 10, 19.

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