Design and Testing of a Low-cost MEMS IMU Aided Fast Relocation Method in a GPS/SINS Ultra-tightly Coupled Hardware Prototype
In a scalar-based GPS receiver,at least 4 satellites are needed to provide a 3-dimensional position and clock bias.However,under some circumstance such as signal blockage,the amount of the available satellites can drop to less than 4 and then the system fails to provide stable navigation solutions.So the signal reacquisition and fast relocation is necessary and critical for a scalar-based GPS receiver.For the GPS/SINS ultra-tightly coupled navigation system,the SINS navigation solution combined with a valid ephemeris can be used to calculate the Doppler measurements which is commonly employed to aid the signal acquisition.The method largely reduces the time of signal acquisition.However,after the signal acquisition and tracking,bit synchronization and frame synchronization are necessary and the procedures still cost several seconds due to the frame synchronization.In this paper,a low-cost MEMS IMU aided fast relocation algorithm is developed and tested in a hardware prototype based on DSP/FPGA.The time from a local timer,position from the SINS and a valid ephemeris is used to calculate the signal sending times backwards and get the frame number applied to the fast frame synchronization.Finally,the performance of the fast frame synchronization algorithm is tested and evaluated by the semi-physical simulation and road driving tests.
ultra-tightly coupled navigation system signal blockage fast frame synchronization
Changhui Jiang Shuai Chen Yuming Bo Chen Zhao
Nanjing University of Science and Technology,210094 Nanjing,China
国内会议
南京
英文
1-11
2017-05-23（万方平台首次上网日期，不代表论文的发表时间）