• 文献检索
  • 文档翻译
  • 深度研究
  • 学术资讯
  • Suppr Zotero 插件Zotero 插件
  • 邀请有礼
  • 套餐&价格
  • 历史记录
应用&插件
Suppr Zotero 插件Zotero 插件浏览器插件Mac 客户端Windows 客户端微信小程序
定价
高级版会员购买积分包购买API积分包
服务
文献检索文档翻译深度研究API 文档MCP 服务
关于我们
关于 Suppr公司介绍联系我们用户协议隐私条款
关注我们

Suppr 超能文献

核心技术专利：CN118964589B侵权必究
粤ICP备2023148730 号-1Suppr @ 2026

文献检索

告别复杂PubMed语法，用中文像聊天一样搜索，搜遍4000万医学文献。AI智能推荐，让科研检索更轻松。

立即免费搜索

文件翻译

保留排版，准确专业，支持PDF/Word/PPT等文件格式，支持 12+语言互译。

免费翻译文档

深度研究

AI帮你快速写综述，25分钟生成高质量综述，智能提取关键信息，辅助科研写作。

立即免费体验

实时 GPS/伽利略精密单点定位与惯性导航系统集成的性能分析。

Performance Analysis of Real-Time GPS/Galileo Precise Point Positioning Integrated with Inertial Navigation System.

机构信息

Nottingham Geospatial Institute, The University of Nottingham, Nottingham NG7 2TU, UK.

出版信息

Sensors (Basel). 2023 Feb 21;23(5):2396. doi: 10.3390/s23052396.

DOI:10.3390/s23052396
PMID:36904600
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC10007143/
Abstract

The integration of global navigation satellite system (GNSS) precise point positioning (PPP) and inertial navigation system (INS) is widely used in navigation for its robustness and resilience, especially in case of GNSS signal blockage. With GNSS modernization, a variety of PPP models have been developed and studied, which has also led to various PPP/INS integration methods. In this study, we investigated the performance of a real-time GPS/Galileo zero-difference ionosphere-free (IF) PPP/INS integration with the application of uncombined bias products. This uncombined bias correction was independent of PPP modeling on the user side and also enabled carrier phase ambiguity resolution (AR). CNES (Centre National d'Etudes Spatiales) real-time orbit, clock, and uncombined bias products were used. Six positioning modes were evaluated, including PPP, PPP/INS loosely coupled integration (LCI), PPP/INS tightly coupled integration (TCI), and three of these with uncombined bias correction through a train positioning test in an open sky environment and two van positioning tests at a complex road and city center. All of the tests used a tactical-grade inertial measurement unit (IMU). In the train test, we found that ambiguity-float PPP had almost identical performance with LCI and TCI, which reached an accuracy of 8.5, 5.7, and 4.9 cm in the north (N), east (E) and up (U) direction, respectively. After AR, significant improvements on the east error component were achieved, which were 47%, 40%, and 38% for PPP-AR, PPP-AR/INS LCI, and PPP-AR/INS TCI, respectively. In the van tests, frequent signal interruptions due to bridges, vegetation, and city canyons make the IF AR difficult. TCI achieved the highest accuracies, which were 32, 29, and 41 cm for the N/E/U component, respectively, and also effectively eliminated the solution re-convergence in PPP.

摘要

全球导航卫星系统 (GNSS) 精密单点定位 (PPP) 和惯性导航系统 (INS) 的集成因其鲁棒性和弹性而被广泛应用于导航中，尤其是在 GNSS 信号阻断的情况下。随着 GNSS 的现代化，已经开发和研究了各种 PPP 模型，这也导致了各种 PPP/INS 集成方法。在这项研究中，我们研究了实时 GPS/伽利略零差无电离层 (IF) PPP/INS 集成的性能，该集成应用了未组合偏差产品。这种未组合偏差校正独立于用户侧的 PPP 建模，并且还能够实现载波相位模糊度解算 (AR)。使用了 CNES（法国国家空间研究中心）实时轨道、时钟和未组合偏差产品。评估了六种定位模式，包括 PPP、PPP/INS 松耦合集成 (LCI)、PPP/INS 紧耦合集成 (TCI)，以及这三种模式通过在开阔天空环境中的火车定位测试和在复杂道路和市中心的两辆货车定位测试进行的未组合偏差校正。所有测试都使用了战术级惯性测量单元 (IMU)。在火车测试中，我们发现模糊度浮动 PPP 与 LCI 和 TCI 的性能几乎相同，在北 (N)、东 (E) 和上 (U) 方向的精度分别达到 8.5、5.7 和 4.9 厘米。经过 AR 后，东向误差分量的精度得到了显著提高，对于 PPP-AR、PPP-AR/INS LCI 和 PPP-AR/INS TCI，分别提高了 47%、40%和 38%。在货车测试中，由于桥梁、植被和城市峡谷，信号经常中断，使得 IF AR 变得困难。TCI 实现了最高的精度，N/E/U 分量的精度分别为 32、29 和 41 厘米，并且有效地消除了 PPP 中的解重新收敛。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/e43b06dd9864/sensors-23-02396-g016.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/6d82419fc01b/sensors-23-02396-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/9e32d549e3d1/sensors-23-02396-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/0a27c096a2ab/sensors-23-02396-g003a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/cff34eb9fb5e/sensors-23-02396-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/314e261ce4f5/sensors-23-02396-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/9e71c3c76ab9/sensors-23-02396-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/51acc62f785c/sensors-23-02396-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/8b12782b4a19/sensors-23-02396-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/2eea36eee6ee/sensors-23-02396-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/0eaecc770910/sensors-23-02396-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/314a6f0bfb22/sensors-23-02396-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/50af86720f97/sensors-23-02396-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/cd504bc9671b/sensors-23-02396-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/5f880f9e7c2e/sensors-23-02396-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/7dd3cde7acb9/sensors-23-02396-g015.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/e43b06dd9864/sensors-23-02396-g016.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/6d82419fc01b/sensors-23-02396-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/9e32d549e3d1/sensors-23-02396-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/0a27c096a2ab/sensors-23-02396-g003a.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/cff34eb9fb5e/sensors-23-02396-g004.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/314e261ce4f5/sensors-23-02396-g005.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/9e71c3c76ab9/sensors-23-02396-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/51acc62f785c/sensors-23-02396-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/8b12782b4a19/sensors-23-02396-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/2eea36eee6ee/sensors-23-02396-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/0eaecc770910/sensors-23-02396-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/314a6f0bfb22/sensors-23-02396-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/50af86720f97/sensors-23-02396-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/cd504bc9671b/sensors-23-02396-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/5f880f9e7c2e/sensors-23-02396-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/7dd3cde7acb9/sensors-23-02396-g015.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/51b2/10007143/e43b06dd9864/sensors-23-02396-g016.jpg

相似文献

1
Performance Analysis of Real-Time GPS/Galileo Precise Point Positioning Integrated with Inertial Navigation System.实时 GPS/伽利略精密单点定位与惯性导航系统集成的性能分析。
Sensors (Basel). 2023 Feb 21;23(5):2396. doi: 10.3390/s23052396.
2
Tightly Coupled Integration of GPS Ambiguity Fixed Precise Point Positioning and MEMS-INS through a Troposphere-Constrained Adaptive Kalman Filter.通过对流层约束自适应卡尔曼滤波器实现GPS模糊度固定精密单点定位与MEMS-INS的紧密耦合集成。
Sensors (Basel). 2016 Jul 8;16(7):1057. doi: 10.3390/s16071057.
3
Implementation and Analysis of Tightly Coupled Global Navigation Satellite System Precise Point Positioning/Inertial Navigation System (GNSS PPP/INS) with Insufficient Satellites for Land Vehicle Navigation.紧耦合全球导航卫星系统精密单点定位/惯性导航系统（GNSS PPP/INS）在陆地车辆导航中卫星不足的实现与分析。
Sensors (Basel). 2018 Dec 6;18(12):4305. doi: 10.3390/s18124305.
4
PPP/INS Tight Integration with BDS-3 PPP-B2b Service in the Urban Environment.PPP/INS 与 BDS-3 PPP-B2b 服务在城市环境中的紧密集成。
Sensors (Basel). 2023 Feb 28;23(5):2652. doi: 10.3390/s23052652.
5
Tightly coupled integration of ionosphere-constrained precise point positioning and inertial navigation systems.电离层约束精密单点定位与惯性导航系统的紧密耦合集成。
Sensors (Basel). 2015 Mar 10;15(3):5783-802. doi: 10.3390/s150305783.
6
Precise Point Positioning Using Triple GNSS Constellations in Various Modes.在各种模式下使用三重全球导航卫星系统星座进行精确点定位。
Sensors (Basel). 2016 May 28;16(6):779. doi: 10.3390/s16060779.
7
Low-Cost Real-Time PPP/INS Integration for Automated Land Vehicles.低成本实时 PPP/INS 集成在自动化地面车辆中的应用。
Sensors (Basel). 2019 Nov 9;19(22):4896. doi: 10.3390/s19224896.
8
Assessment of BeiDou-3 and Multi-GNSS Precise Point Positioning Performance.北斗三号与多全球导航卫星系统精密单点定位性能评估
Sensors (Basel). 2019 May 31;19(11):2496. doi: 10.3390/s19112496.
9
Performance analysis on carrier phase-based tightly-coupled GPS/BDS/INS integration in GNSS degraded and denied environments.全球导航卫星系统（GNSS）信号减弱和拒止环境下基于载波相位的紧密耦合GPS/北斗/惯性导航系统（INS）集成性能分析
Sensors (Basel). 2015 Apr 14;15(4):8685-711. doi: 10.3390/s150408685.
10
The Impact of Satellite Time Group Delay and Inter-Frequency Differential Code Bias Corrections on Multi-GNSS Combined Positioning.卫星时间群延迟和频率间差分码偏差校正对多全球导航卫星系统组合定位的影响
Sensors (Basel). 2017 Mar 16;17(3):602. doi: 10.3390/s17030602.

引用本文的文献

1
Evaluation the static precise point positioning and fixing rate with phase ambiguity resolution using different analysis centers products.使用不同分析中心的产品评估采用相位模糊度解算的静态精密单点定位及固定率。
PLoS One. 2025 May 19;20(5):e0322622. doi: 10.1371/journal.pone.0322622. eCollection 2025.

本文引用的文献

1
Tightly Coupled Integration of GPS Ambiguity Fixed Precise Point Positioning and MEMS-INS through a Troposphere-Constrained Adaptive Kalman Filter.通过对流层约束自适应卡尔曼滤波器实现GPS模糊度固定精密单点定位与MEMS-INS的紧密耦合集成。
Sensors (Basel). 2016 Jul 8;16(7):1057. doi: 10.3390/s16071057.
2
Integration of GPS precise point positioning and MEMS-based INS using unscented particle filter.使用无迹粒子滤波器实现GPS精密单点定位与基于微机电系统的惯性导航系统的集成。
Sensors (Basel). 2015 Mar 25;15(4):7228-45. doi: 10.3390/s150407228.