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Robust wavelet-based inertial sensor error mitigation for tightly coupled GPS/BDS/INS integration during signal outages

Wang, Jian; Han, Houzeng; Meng, Xiaolin; Yao, Lihui; Li, Zengke

Authors

Jian Wang

Houzeng Han

Xiaolin Meng

Lihui Yao

Zengke Li



Abstract

This paper proposes a robust wavelet-based tightly coupled Global Positioning System (GPS)/ Beidou Navigation Satellite System (BDS)/Inertial Navigation System (INS) integration scheme aiming to improve the overall position accuracy during signal outages. A robust wavelet denoising model based on a-trimmed mean filter demonstrates its effectiveness on noise reduction and gross error elimination of inertial sensor raw data. Thereafter, a robust wavelet-based tightly coupled GPS/BDS/INS integration scheme is proposed, and GPS/BDS double-difference (DD) carrier-phase and pseudorange measurements are introduced to build a 27-state tightly coupled GPS/BDS/INS integration equation. An extended Kalman filter (EKF) has been designed for state estimation, and the inclusion of BDS enhances the satellite geometric strength of the whole navigation system. A field vehicle test indicates that the position accuracy of five simulated GPS/ BDS outages can be improved by about 7,16, and 33% for north, east, and up components with the proposed scheme compared to standard integration scheme, and gross errors have been detected and eliminated with the new integration scheme. The authors also find that the BDS phase residual is larger than GPS and satellite dependent in the tightly coupled GPS/BDS/INS integrated navigation system.

Citation

Wang, J., Han, H., Meng, X., Yao, L., & Li, Z. (2017). Robust wavelet-based inertial sensor error mitigation for tightly coupled GPS/BDS/INS integration during signal outages. Survey Review, 49(357), 419-427. https://doi.org/10.1080/00396265.2016.1190162

Journal Article Type Article
Acceptance Date Jun 23, 2016
Online Publication Date Jun 23, 2016
Publication Date Nov 2, 2017
Deposit Date Jan 26, 2019
Journal Survey Review
Print ISSN 0039-6265
Electronic ISSN 1752-2706
Publisher Taylor and Francis
Peer Reviewed Peer Reviewed
Volume 49
Issue 357
Pages 419-427
DOI https://doi.org/10.1080/00396265.2016.1190162
Keywords Robust wavelet; Inertial sensor error; GPS/BDS/INS; Error mitigation
Public URL https://nottingham-repository.worktribe.com/output/1498434
Publisher URL https://www.tandfonline.com/doi/full/10.1080/00396265.2016.1190162

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