Research of Fast Relocation Technology Assisted by IMU in the GPS/SINS Ultra-Tightly Coupled Navigation System

Changhui Jiang ； Shuai Chen ； Yuming Bo ； Xinfen Qu ； Nailong Han

《Journal of Aeronautics, Astronautics and Aviation》 48卷4期 Vol.48 No.4 (2016/12) Pp. 253-259

https://doi.org/10.6125/16-0826-902

摘要

For a scalar-based GPS receiver, it can cost several seconds for the receiver to relocation after the signal blockage. In this paper, a low-cost MEMS IMU aided fast relocation algorithm is proposed, implemented and tested in a DSP/FPGA based hardware prototype and it is composed of two parts. The part one is the SINS aided multi-channel quick reacquisition algorithm which can reduce the search time especially in high dynamic environments. The part two is a low-cost MEMS IMU aided fast frame synchronization algorithm. In this part, the time information from a local timer of DSP combined with the position information from the SINS and ephemeris are used for calculating the frame counts. Finally, several scenarios are used to test and evaluate the performance of the algorithm. The results demonstrate that the low-cost MEMS IMU aided fast relocation algorithm (IAFRA) can largely reduce the receiver relocation time comparison of the normal algorithm.

關鍵字

ultra-tightly coupled navigation system ； signal blockage ； fast frame synchronization