Chapter 62 Efficient Quality Control Procedure for GNSS/INS Integrated Navigation System

摘要

This paper proposed an efficient quality control algorithm for the GNSS/INS integrated navigation system, the system therefore can be efficiently and reliably applied in complex urban environment with shelters, multipath, reflections and data loss. The quality control algorithm consists of GNSS and INS modules. In order to reduce the adverse influence from abnormal GNSS data, a Kalman Filter with a Fault Detection and Exclusion (FDE) procedure is proposed to enhance the system reliability and stability. The stochastic model for Kalman Filter is determined by Allan Variance analysis to reduce the time dependent ramp error of INS data. In comparison with traditional GNSS/INS integrated system, the new system can detect and repair GNSS outliers in real-time and also can alleviate the INS ramp errors when GNSS signals are interfered with. In order to evaluate the performance of the proposed navigation system, a field test has been conducted in Sydney urban area. The performance of the proposed navigation system and the effectiveness of the FDE algorithm that was applied to the GNSS data with high fault rate and slight data loss were evaluated. The results show that the proposed algorithm with the optimal quality control design can give reliable navigation solution that is better than that with the normal quality control design.