TIGHTLY-COUPLED RTK/INS INTEGRATED NAVIGATION USING A LOW-COST GNSS RECEIVER AND A MEMS IMU

TIGHTLY-COUPLED RTK/INS INTEGRATED NAVIGATION USING A LOW-COST GNSS RECEIVER AND A MEMS IMU

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The Global Navigation Satellite System (GNSS) real-time kinematics (RTK) is a technology to provide centimeter-level navigation services in outdoor areas.GNSS/INS integration is a typical integrated navigation system, including sigma phi lambda merchandise loosely, tightly, and ultra-tightly coupled integration, which has been studied for decades.Although GNSS aiding INS is a relatively mature system, RTK is rarely used to be integrated with INS.

In this work, we present a model with a tightly-coupled (TC) scheme to integrate RTK and INS using an extended Kalman Filter (EKF).Multi-GNSS multi-frequency double-differenced pseudo-ranges and copyright phases are the updates of the measurement model.To make the ambiguity resolution, we used the well-known LAMBDA algorithm to search for the possible ambiguity series, and then use the best integer equivariant (BIE) method to decide on the most likely ambiguities with a proper weighting strategy to select from the ambiguity candidates.

To test the performance of the proposed TC integration model, we implemented two field vehicular tests with a low-cost GNSS module equipped with a Micro-Electro-Mechanical System (MEMS) IMU.Using this low-cost platform, our RTK/INS integrated navigation engine can achieve centimeter-level navigation solutions air force medical technician badge under open sky conditions.In harsh environments, our TC integration system navigates on two scenarios with mean errors of 0.

48 and 0.57 m, which is 51% and 28% better than a loosely-coupled system.