SINS/GPS Carrier Phase Rate Integrated Navigation System based on Square-root CKF

Authors

  • Zhenguo Yuan
  • Lin Zhao

DOI:

https://doi.org/10.3991/ijoe.v10i1.3166

Keywords:

SINS, Carrier phase rate, integration, CKF, Square-root

Abstract


The integration of Strap-down Inertial Navigation System (SINS) and Global Positioning System(GPS)can not merely reduce the error of navigation system, which would enhance the system dynamic performance. GPS Carrier phase rate is a high-precision measurement without integer ambiguity problem. Moreover, only one GPS receiver is needed for SINS/GPS carrier phase rate integrated navigation system. The measurement of GPS carrier phase rate is derived and a integrated scheme of SINS and GPS carrier phase rate is proposed. Common used nonlinear filter, extended Kalman filter (EKF) has high-order truncation errors which affects the system accuracy. An improved cubature Kalman filter(CKF) used square root is introduced. The square-root CKF calculate avoids calculating the Jacobian matrix and has better estimate precision.

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Published

2014-02-01

How to Cite

Yuan, Z., & Zhao, L. (2014). SINS/GPS Carrier Phase Rate Integrated Navigation System based on Square-root CKF. International Journal of Online and Biomedical Engineering (iJOE), 10(1), pp. 29–32. https://doi.org/10.3991/ijoe.v10i1.3166

Issue

Section

Special Focus Papers