New optimal smoothing scheme for improving relative and absolute accuracy of tightly coupled GNSS/SINS integration
作者: Xiaohong ZhangFeng ZhuXianlu TaoRui Duan
作者单位: 1Wuhan University
2Collaborative Innovation Center for Geospatial Technology
刊名: GPS Solutions, 2017, Vol.21 (3), pp.861-872
来源数据库: Springer Journal
DOI: 10.1007/s10291-017-0601-1
关键词: Tightly coupled architectureGNSS/SINS integrationRauch–Tung–Streibel SmootherForward–Backward combination
英文摘要: For mobile surveying and mapping applications, tightly coupled integration of global navigation satellite system (GNSS) and Strap down Inertial Navigation System is usually recommended for direct georeferencing since it can provide position, velocity, and attitude information at higher accuracy and better reliability in a self-contained manner. A post-mission smoothing method is applied to optimally use observation information of both systems and to overcome the shortcomings of Kalman filter in GNSS degraded environments. We propose the revised Rauch–Tung–Streibel Smoother (RTSS) and Forward–Backward combination (FBC) smoothing algorithms for tightly coupled integration. From the analysis and field test, it is found that RTSS smoothing mainly improves the relative accuracy, while FBC...
原始语种摘要: For mobile surveying and mapping applications, tightly coupled integration of global navigation satellite system (GNSS) and Strap down Inertial Navigation System is usually recommended for direct georeferencing since it can provide position, velocity, and attitude information at higher accuracy and better reliability in a self-contained manner. A post-mission smoothing method is applied to optimally use observation information of both systems and to overcome the shortcomings of Kalman filter in GNSS degraded environments. We propose the revised Rauch–Tung–Streibel Smoother (RTSS) and Forward–Backward combination (FBC) smoothing algorithms for tightly coupled integration. From the analysis and field test, it is found that RTSS smoothing mainly improves the relative accuracy, while FBC...
全文获取路径: Springer  (合作)
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影响因子:1.429 (2012)

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关键词翻译
关键词翻译
  • smoothing 平滑
  • integration 集成
  • coupled 耦合
  • accuracy 准确度
  • improving 改进
  • tightly 紧密地
  • GNSS Global Navigation Satellite System
  • smoothness 平滑度
  • absolute 绝对的
  • SINS 船舶惯性导航系统