A positioning system and method integrating measurements from Global Navigation Satellite Systems (GNSS) and Inertial Navigation Systems (INS)

摘要

A positioning system and method integrating measurements from Global Navigation Satellite Systems (GNSS) and Inertial Navigation Systems (INS) are disclosed. The system comprises an inertial navigation system adapted to calculate inertial positioning data; a GPS system having a processing module. The GPS system is adapted to receive satellite ranging data and calculate a GNSS positioning solution based upon the received satellite ranging data. A translation module is in communication with the inertial navigation system. The translation module is adapted to receive the inertial positioning data and translate the inertial positioning data into virtual satellite ranging data including virtual ranging data from one or more virtual satellites. The translation module (a) identifies one or more obstructed satellites forming part of the GNSS wherein satellite ranging data from the one or more obstructed satellites is not received; and (b) translates the inertial positioning data to form the virtual satellite ranging data such that the virtual satellite ranging data is identical in form to satellite ranging data from the one or more obstructed satellites. An augmentation module is in communication with the processing module of the GPS system and the translation module. The augmentation module is adapted to receive the satellite ranging data from the GPS system and the virtual satellite ranging data from the translation module to form combined ranging data and communicate the combined ranging data to the processing module of the GPS system. The processing module of the GPS system calculates a positioning solution based upon the combined ranging data received from the augmentation module.