High-Precision Vehicle Navigation in Urban Environments Using an MEM's IMU and Single-Frequency GPS Receiver
- 5 April 2016
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Intelligent Transportation Systems
- Vol. 17 (10), 2854-2867
- https://doi.org/10.1109/tits.2016.2529000
Abstract
Many applications demand high-precision navigation in urban environments. Two frequency real-time kinematic (RTK) Global Positioning System (GPS) receivers are too expensive for low-cost or consumer-grade projects. As single-frequency GPS receivers are getting less expensive and more capable, more people are utilizing single-frequency RTK GPS techniques to achieve high accuracy in such applications. However, compared with dual-frequency receivers, it is much more difficult to resolve the integer ambiguity vector using single-frequency phase measurements and therefore more difficult to achieve reliable high-precision navigation. This paper presents a real-time sliding-window estimator that tightly integrates differential GPS and an inertial measurement unit to achieve reliable high-precision navigation performance in GPS-challenged urban environments using low-cost single-frequency GPS receivers. Moreover, this paper proposes a novel method to utilize the phase measurements, without resolving the integer ambiguity vector. Experimental results demonstrate real-time position estimation performance at the decimeter level. Furthermore, the novel use of phase measurements improves the robustness of the estimator to pseudorange multipath error.Keywords
Funding Information
- Department of Army grant through University of Texas-Pan America (W911NF-12-1-0094-01)
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