INS/GNSS Integrated Rover Navigation Designed with MDPO-based Dual-satellite Lunar Global Navigation Systems

Aiming to provide navigational framework upcoming early lunar exploration missions by rovers, interests in robust and low-cost global satellite navigation systems (GNSS) around the Moon are growing more than ever before. In response, dual-satellite (LGNS) based on Multi-epoch Double-differenced Pseudorange Observation (MDPO) algorithm was proposed our earlier work. While MDPO-based LGNS can reasonably high positioning accuracy at an order of several tens meters within a one-minute observation, calculation is only available when two satellites user’s view. This limitation be overcome integrating other sensors such as inertial system (INS) compensating for positions absence GNSS signals. The main objective this research integration model INS measurements quantitatively show benefits numerical simulations. More specifically, major contributions paper three-fold: 1) mathematical INS/GNSS adopted MDPO algorithm, 2) developed simulation that combines measurements, 3) performed quantitative comparison between raw measurements.