Time-Differenced Carrier Phase Measurements for Tightly Coupled GPS-INS Integration

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1、Time-DifferencedCarrierPhaseMeasurementsforTightlyCoupledGPS/INSIntegrationJ.Wendel,O.Meister,R.M¨onikes,andG.F.TrommerInstituteofTheoryandSystemsOptimizationinElectricalEngineeringUniversityofKarlsruhe(TH)Karlsruhe,GermanyAbstract—AtightlycoupledGPS/INSsystemischaracterizedThisassuresalimiteda

2、idingincaseoflessthanfoursatellitesbythefactthatpseudorangeanddeltarangemeasurementsinview,atthecostofanincreasedintegrationeffort.However,areprocessedinthenavigationfilterinordertoestimatetheduetothisabilitytousetheavailableGPSinformationtofullerrorsoftheinertialnavigationsolutionandtocalibrate

3、thecapacity,tightlycoupledsystemshaveproventobeclearlyinertialmeasurementunit.Inthispaper,theusageoftimedifferencedcarrierphasemeasurementsinsteadofthedeltasuperiortolooselycoupledsystems.rangemeasurementsisproposed.Usually,DGPScorrectionsarerequiredinordertoexploitthehighaccuracyofthecarrierph

4、asemeasurementsbyremovingthecommonmodeerrorslikeInthispaper,amodificationofthetightlycoupledinte-ionosphericerrors,ephemeriserrors,orsatelliteclockerrors.grationstrategyisproposed.InsteadofprocessingdeltarangeThen,techniqueslikecarrieraidedsmoothingorambiguityfixingmeasurements,time-differencedca

5、rrierphasemeasurementscanbeapplied.Withtheapproachdescribedinthispaper,DGPSareused.Usually,carrierphasemeasurementsareusedincon-correctionsarenotrequired.Additionally,afixingoftheintegernectionwithaDGPSbasestation.Thecorrectionsprovidedambiguities,whichisespeciallydifficultwhenasinglefrequencyrec

6、eiverisused,isnotrequiredeither.Formingtimedifferencesbythebasestationallowtoremovethecommonmodeerrors.ofsuccessivecarrierphasemeasurements,theconstantintegerThecorrectedcarrierphasemeasurementsaresignificantlyambiguitiesandmostoftheslowlyvaryingcommonmodeerrorslessnoisythanthepseudorangemeasure

7、ments,sothatafterareremoved.Thesecarrierphasedifferencesdonotallowforanafixingofthecarrierphaseintegerambiguities,ahighlyabsolutecentimeter-levelpositioningasitcanbeachievedwithaaccuratepositioningispossible,whichalsoresultsinhighl