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Sensors 2017, 17(11), 2462; https://doi.org/10.3390/s17112462

Tightly-Coupled Integration of Multi-GNSS Single-Frequency RTK and MEMS-IMU for Enhanced Positioning Performance

1
GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China
2
School of Land Science and Technology, China University of Geosciences, 29 Xueyuan Road, Beijing 100083, China
3
German Research Centre for Geosciences (GFZ), Telegrafenberg, 14473 Postsdam, Germany
*
Author to whom correspondence should be addressed.
Received: 25 September 2017 / Revised: 25 October 2017 / Accepted: 25 October 2017 / Published: 27 October 2017
(This article belongs to the Section Remote Sensors)
Full-Text   |   PDF [5266 KB, uploaded 31 October 2017]   |  

Abstract

Dual-frequency Global Positioning System (GPS) Real-time Kinematics (RTK) has been proven in the past few years to be a reliable and efficient technique to obtain high accuracy positioning. However, there are still challenges for GPS single-frequency RTK, such as low reliability and ambiguity resolution (AR) success rate, especially in kinematic environments. Recently, multi-Global Navigation Satellite System (multi-GNSS) has been applied to enhance the RTK performance in terms of availability and reliability of AR. In order to further enhance the multi-GNSS single-frequency RTK performance in terms of reliability, continuity and accuracy, a low-cost micro-electro-mechanical system (MEMS) inertial measurement unit (IMU) is adopted in this contribution. We tightly integrate the single-frequency GPS/BeiDou/GLONASS and MEMS-IMU through the extended Kalman filter (EKF), which directly fuses the ambiguity-fixed double-differenced (DD) carrier phase observables and IMU data. A field vehicular test was carried out to evaluate the impacts of the multi-GNSS and IMU on the AR and positioning performance in different system configurations. Test results indicate that the empirical success rate of single-epoch AR for the tightly-coupled single-frequency multi-GNSS RTK/INS integration is over 99% even at an elevation cut-off angle of 40°, and the corresponding position time series is much more stable in comparison with the GPS solution. Besides, GNSS outage simulations show that continuous positioning with certain accuracy is possible due to the INS bridging capability when GNSS positioning is not available. View Full-Text
Keywords: multi-GNSS (GPS/BDS/GLONASS); single-frequency real-time kinematic (SF-RTK); MEMS-IMU; tight-coupled integration; integer ambiguity resolution multi-GNSS (GPS/BDS/GLONASS); single-frequency real-time kinematic (SF-RTK); MEMS-IMU; tight-coupled integration; integer ambiguity resolution
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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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Li, T.; Zhang, H.; Niu, X.; Gao, Z. Tightly-Coupled Integration of Multi-GNSS Single-Frequency RTK and MEMS-IMU for Enhanced Positioning Performance. Sensors 2017, 17, 2462.

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