Tightly Coupled Integration of GPS-PPP and MEMS-Based Inertial System Using EKF and UKF
نویسندگان
چکیده
In this paper, an improved Precise Point Positioning GPS/MEMS-based integrated system is introduced for precise positioning applications. Un-differenced ionosphere-free linear combinations of carrier phase and code measurements are processed. Tropospheric delay, satellite clock, ocean loading, Earth tide, carrier-phase windup, relativity, and satellite and receiver antenna phase-center variations are accounted for using rigorous modeling. Tightly coupled mechanism is adopted, which is carried out in the raw measurements domain. Both Extended Kalman filter (EKF) and Unscented Kalman filter (UKF) are developed to merge the GPS and inertial measurements. The performance of integrated system is analyzed using a real test scenario in downtown Kingston.
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