A novel ambiguity resolution model of BeiDou navigation satellite system/inertial navigation system tightly coupled for kinematic-to-kinematic precise relative positioning
The carrier-based kinematic-to-kinematic relative positioning can obtain the precise baseline between two moving stations, which greatly expands the application field of dynamic relative positioning. However, the relative positioning performance is degraded greatly with low fixation rate of ambiguit...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2022-06-01
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| Series: | International Journal of Distributed Sensor Networks |
| Online Access: | https://doi.org/10.1177/15501329221102734 |
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| _version_ | 1832559731293552640 |
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| author | Ling Wu Yongrong Sun Xiyu Fu Qinghua Zeng |
| author_facet | Ling Wu Yongrong Sun Xiyu Fu Qinghua Zeng |
| author_sort | Ling Wu |
| collection | DOAJ |
| description | The carrier-based kinematic-to-kinematic relative positioning can obtain the precise baseline between two moving stations, which greatly expands the application field of dynamic relative positioning. However, the relative positioning performance is degraded greatly with low fixation rate of ambiguity with low-cost receivers. Especially, in the complex dynamic environment, ambiguity resolution effect is influenced by the satellite signal blocked, multipath outlier, and abnormal state prediction. Aiming at the problems, a novel inertial navigation system–aided robust adaptive filtering ambiguity resolution model is proposed. In addition, a hierarchical filtering strategy is developed to eliminate ambiguity parameters in BeiDou navigation satellite system/inertial navigation system tightly coupled integrated system. Finally, the precise relative position can be calculated with the “best” ambiguity solution. Both experiments with static data and field vehicle test were carried out to evaluate the algorithm efficiency in different data configurations. The results indicate that IRAFAR-TCRP method can effectively suppress the influence of observation outliers and model prediction abnormalities, which improves the success rate of ambiguity resolution, raises the accuracy as well as the continuity of relative positioning. The success rate of ambiguity resolution with single-frequency BeiDou navigation satellite system can reach 90% in the gross error and abnormal disturbance environments and centimeter-level accuracy can be achieved. |
| format | Article |
| id | doaj-art-e84a13b614c7420eabe1c7faec3cbff8 |
| institution | Kabale University |
| issn | 1550-1477 |
| language | English |
| publishDate | 2022-06-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Distributed Sensor Networks |
| spelling | doaj-art-e84a13b614c7420eabe1c7faec3cbff82025-02-03T01:29:28ZengWileyInternational Journal of Distributed Sensor Networks1550-14772022-06-011810.1177/15501329221102734A novel ambiguity resolution model of BeiDou navigation satellite system/inertial navigation system tightly coupled for kinematic-to-kinematic precise relative positioningLing Wu0Yongrong Sun1Xiyu Fu2Qinghua Zeng3College of Mechatronic Engineering and Automation, Nanhang Jincheng College, Nanjing, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, ChinaCollege of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, ChinaThe carrier-based kinematic-to-kinematic relative positioning can obtain the precise baseline between two moving stations, which greatly expands the application field of dynamic relative positioning. However, the relative positioning performance is degraded greatly with low fixation rate of ambiguity with low-cost receivers. Especially, in the complex dynamic environment, ambiguity resolution effect is influenced by the satellite signal blocked, multipath outlier, and abnormal state prediction. Aiming at the problems, a novel inertial navigation system–aided robust adaptive filtering ambiguity resolution model is proposed. In addition, a hierarchical filtering strategy is developed to eliminate ambiguity parameters in BeiDou navigation satellite system/inertial navigation system tightly coupled integrated system. Finally, the precise relative position can be calculated with the “best” ambiguity solution. Both experiments with static data and field vehicle test were carried out to evaluate the algorithm efficiency in different data configurations. The results indicate that IRAFAR-TCRP method can effectively suppress the influence of observation outliers and model prediction abnormalities, which improves the success rate of ambiguity resolution, raises the accuracy as well as the continuity of relative positioning. The success rate of ambiguity resolution with single-frequency BeiDou navigation satellite system can reach 90% in the gross error and abnormal disturbance environments and centimeter-level accuracy can be achieved.https://doi.org/10.1177/15501329221102734 |
| spellingShingle | Ling Wu Yongrong Sun Xiyu Fu Qinghua Zeng A novel ambiguity resolution model of BeiDou navigation satellite system/inertial navigation system tightly coupled for kinematic-to-kinematic precise relative positioning International Journal of Distributed Sensor Networks |
| title | A novel ambiguity resolution model of BeiDou navigation satellite system/inertial navigation system tightly coupled for kinematic-to-kinematic precise relative positioning |
| title_full | A novel ambiguity resolution model of BeiDou navigation satellite system/inertial navigation system tightly coupled for kinematic-to-kinematic precise relative positioning |
| title_fullStr | A novel ambiguity resolution model of BeiDou navigation satellite system/inertial navigation system tightly coupled for kinematic-to-kinematic precise relative positioning |
| title_full_unstemmed | A novel ambiguity resolution model of BeiDou navigation satellite system/inertial navigation system tightly coupled for kinematic-to-kinematic precise relative positioning |
| title_short | A novel ambiguity resolution model of BeiDou navigation satellite system/inertial navigation system tightly coupled for kinematic-to-kinematic precise relative positioning |
| title_sort | novel ambiguity resolution model of beidou navigation satellite system inertial navigation system tightly coupled for kinematic to kinematic precise relative positioning |
| url | https://doi.org/10.1177/15501329221102734 |
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