| Résumé : |
(Auteur) To upgrade the positioning accuracy, re-initialization speed, and attitude determination performance of precise point positioning (PPP) in dynamic applications, we proposed a multi-sensor fusion system consisting of four global navigation satellite systems (GNSSs), namely GPS, BDS, Galileo, and GLONASS, several low-cost inertial sensors, and an odometer. The study shows that the performance of PPP in terms of continuity, reliability, stability, and re-initialization speed improves by such a multi-sensor fusion system. This manifests itself in a significantly increased accuracy. For position solutions, compared to un-aided PPP solutions, the improvements achieved using low-cost inertial navigation system (INS) are about 36.4, 38.7, and 31.3% in the north, east, and vertical components, respectively, and the improvement using odometer are about 1.58, 0.35, and 4.32% relative to the INS-aided PPP solutions. Moreover, using the odometer can provide more than 2.1, 1.4, and 50.6% attitude improvements for roll, pitch, and heading angles compared to the attitude solutions obtained from the INS-aided PPP system. Under GNSS outage conditions, the mean position improvements using the odometer are about 2.3, 1.8, and 8.7%, with maximum increases of 74.6, 74.7, and 28.3%, and the average attitude improvements are about 4.7, 5.4, and 3.3%, with maximum increases of 36.4, 31.7, and 28.9%, respectively. This means that the odometer can enhance the performance of PPP and PPP/INS integration in challenging dynamic conditions. |
Ajouter le résultat dans votre panier
Visionner les documents numériques
Affiner la recherche Interroger des sources externesGalileo and QZSS precise orbit and clock determination using new satellite metadata in Journal of geodesy, vol 93 n° 8 (August 2019)
Springer handbook of Global Navigation Satellite Systems (2017)
