IEICE TRANSACTIONS on Communications
Hardware Implementation of a Real-Time MEMS IMU/GNSS Deeply-Coupled System
Summary :
A deeply-coupled system can feed the INS information into a GNSS receiver, and the signal tracking precision can be improved under dynamic conditions by reducing tracking loop bandwidth without losing tracking reliability. In contrast to the vector-based deep integration, the scalar-based GNSS/INS deep integration is a relatively simple and practical architecture, in which all individual DLL and PLL are still exist. Since the implementation of a deeply-couple system needs to modify the firmware of a commercial hardware GNSS receiver, very few studies are reported on deep integration based on hardware platform, especially from academic institutions. This implementation-complexity issue has impeded the development of the deeply-coupled GNSS receivers. This paper introduces a scalar-based MEMS IMU/GNSS deeply-coupled system based on an integrated embedded hardware platform for real-time implementation. The design of the deeply-coupled technologies is described including the system architecture, the model of the inertial-aided tracking loop, and the relevant tracking errors analysis. The implementation issues, which include platform structure, real-time optimization, and generation of aiding information, are discussed as well. The performance of the inertial aided tracking loop and the final navigation solution of the developed deeply-coupled system are tested through the dynamic road test scenarios created by a hardware GNSS/INS simulator with GPS L1 C/A signals and low-level MEMS IMU analog signals outputs. The dynamic tests show that the inertial-aided PLL enables a much narrow tracking loop bandwidth (e.g. 3Hz) under dynamic scenarios; while the non-aided loop would lose lock with such narrow loop bandwidth once maneuvering commences. The dynamic zero-baseline tests show that the Doppler observation errors can be reduced by more than 50% with inertial aided tracking loop. The corresponding navigation results also show that the deep integration improved the velocity precision significantly.
- Publication
- IEICE TRANSACTIONS on Communications Vol.E96-B No.11 pp.2933-2942
- Publication Date
- 2013/11/01
- Publicized
- Online ISSN
- 1745-1345
- DOI
- 10.1587/transcom.E96.B.2933
- Type of Manuscript
- PAPER
- Category
- Navigation, Guidance and Control Systems
Authors
Tisheng ZHANG
Wuhan University
Hongping ZHANG
Wuhan University
Yalong BAN
Wuhan University
Kunlun YAN
Wuhan University
Xiaoji NIU
Wuhan University
Jingnan LIU
Wuhan University
Keyword
Latest Issue
Copyrights notice of machine-translated contents
The copyright of the original papers published on this site belongs to IEICE. Unauthorized use of the original or translated papers is prohibited. See IEICE Provisions on Copyright for details.
Cite this
Copy
Tisheng ZHANG, Hongping ZHANG, Yalong BAN, Kunlun YAN, Xiaoji NIU, Jingnan LIU, "Hardware Implementation of a Real-Time MEMS IMU/GNSS Deeply-Coupled System" in IEICE TRANSACTIONS on Communications,
vol. E96-B, no. 11, pp. 2933-2942, November 2013, doi: 10.1587/transcom.E96.B.2933.
Abstract: A deeply-coupled system can feed the INS information into a GNSS receiver, and the signal tracking precision can be improved under dynamic conditions by reducing tracking loop bandwidth without losing tracking reliability. In contrast to the vector-based deep integration, the scalar-based GNSS/INS deep integration is a relatively simple and practical architecture, in which all individual DLL and PLL are still exist. Since the implementation of a deeply-couple system needs to modify the firmware of a commercial hardware GNSS receiver, very few studies are reported on deep integration based on hardware platform, especially from academic institutions. This implementation-complexity issue has impeded the development of the deeply-coupled GNSS receivers. This paper introduces a scalar-based MEMS IMU/GNSS deeply-coupled system based on an integrated embedded hardware platform for real-time implementation. The design of the deeply-coupled technologies is described including the system architecture, the model of the inertial-aided tracking loop, and the relevant tracking errors analysis. The implementation issues, which include platform structure, real-time optimization, and generation of aiding information, are discussed as well. The performance of the inertial aided tracking loop and the final navigation solution of the developed deeply-coupled system are tested through the dynamic road test scenarios created by a hardware GNSS/INS simulator with GPS L1 C/A signals and low-level MEMS IMU analog signals outputs. The dynamic tests show that the inertial-aided PLL enables a much narrow tracking loop bandwidth (e.g. 3Hz) under dynamic scenarios; while the non-aided loop would lose lock with such narrow loop bandwidth once maneuvering commences. The dynamic zero-baseline tests show that the Doppler observation errors can be reduced by more than 50% with inertial aided tracking loop. The corresponding navigation results also show that the deep integration improved the velocity precision significantly.
URL: https://global.ieice.org/en_transactions/communications/10.1587/transcom.E96.B.2933/_p
Copy
@ARTICLE{e96-b_11_2933,
author={Tisheng ZHANG, Hongping ZHANG, Yalong BAN, Kunlun YAN, Xiaoji NIU, Jingnan LIU, },
journal={IEICE TRANSACTIONS on Communications},
title={Hardware Implementation of a Real-Time MEMS IMU/GNSS Deeply-Coupled System},
year={2013},
volume={E96-B},
number={11},
pages={2933-2942},
abstract={A deeply-coupled system can feed the INS information into a GNSS receiver, and the signal tracking precision can be improved under dynamic conditions by reducing tracking loop bandwidth without losing tracking reliability. In contrast to the vector-based deep integration, the scalar-based GNSS/INS deep integration is a relatively simple and practical architecture, in which all individual DLL and PLL are still exist. Since the implementation of a deeply-couple system needs to modify the firmware of a commercial hardware GNSS receiver, very few studies are reported on deep integration based on hardware platform, especially from academic institutions. This implementation-complexity issue has impeded the development of the deeply-coupled GNSS receivers. This paper introduces a scalar-based MEMS IMU/GNSS deeply-coupled system based on an integrated embedded hardware platform for real-time implementation. The design of the deeply-coupled technologies is described including the system architecture, the model of the inertial-aided tracking loop, and the relevant tracking errors analysis. The implementation issues, which include platform structure, real-time optimization, and generation of aiding information, are discussed as well. The performance of the inertial aided tracking loop and the final navigation solution of the developed deeply-coupled system are tested through the dynamic road test scenarios created by a hardware GNSS/INS simulator with GPS L1 C/A signals and low-level MEMS IMU analog signals outputs. The dynamic tests show that the inertial-aided PLL enables a much narrow tracking loop bandwidth (e.g. 3Hz) under dynamic scenarios; while the non-aided loop would lose lock with such narrow loop bandwidth once maneuvering commences. The dynamic zero-baseline tests show that the Doppler observation errors can be reduced by more than 50% with inertial aided tracking loop. The corresponding navigation results also show that the deep integration improved the velocity precision significantly.},
keywords={},
doi={10.1587/transcom.E96.B.2933},
ISSN={1745-1345},
month={November},}
Copy
TY - JOUR
TI - Hardware Implementation of a Real-Time MEMS IMU/GNSS Deeply-Coupled System
T2 - IEICE TRANSACTIONS on Communications
SP - 2933
EP - 2942
AU - Tisheng ZHANG
AU - Hongping ZHANG
AU - Yalong BAN
AU - Kunlun YAN
AU - Xiaoji NIU
AU - Jingnan LIU
PY - 2013
DO - 10.1587/transcom.E96.B.2933
JO - IEICE TRANSACTIONS on Communications
SN - 1745-1345
VL - E96-B
IS - 11
JA - IEICE TRANSACTIONS on Communications
Y1 - November 2013
AB - A deeply-coupled system can feed the INS information into a GNSS receiver, and the signal tracking precision can be improved under dynamic conditions by reducing tracking loop bandwidth without losing tracking reliability. In contrast to the vector-based deep integration, the scalar-based GNSS/INS deep integration is a relatively simple and practical architecture, in which all individual DLL and PLL are still exist. Since the implementation of a deeply-couple system needs to modify the firmware of a commercial hardware GNSS receiver, very few studies are reported on deep integration based on hardware platform, especially from academic institutions. This implementation-complexity issue has impeded the development of the deeply-coupled GNSS receivers. This paper introduces a scalar-based MEMS IMU/GNSS deeply-coupled system based on an integrated embedded hardware platform for real-time implementation. The design of the deeply-coupled technologies is described including the system architecture, the model of the inertial-aided tracking loop, and the relevant tracking errors analysis. The implementation issues, which include platform structure, real-time optimization, and generation of aiding information, are discussed as well. The performance of the inertial aided tracking loop and the final navigation solution of the developed deeply-coupled system are tested through the dynamic road test scenarios created by a hardware GNSS/INS simulator with GPS L1 C/A signals and low-level MEMS IMU analog signals outputs. The dynamic tests show that the inertial-aided PLL enables a much narrow tracking loop bandwidth (e.g. 3Hz) under dynamic scenarios; while the non-aided loop would lose lock with such narrow loop bandwidth once maneuvering commences. The dynamic zero-baseline tests show that the Doppler observation errors can be reduced by more than 50% with inertial aided tracking loop. The corresponding navigation results also show that the deep integration improved the velocity precision significantly.
ER -
English
