A New GNSS/INS Integration for Challenging Environments

摘要

A novel GNSS-INS coupling approach is presented for the challenging environment of mobile mapping applications. The approach is called SIGIL after the data interface between the two main sensors used in the approach, the Septentrio-iXBlue GNSS Inertial Link. The key idea is to use an INS-based prediction in RTK to overcome some of its limitations in difficult environments. SIGIL realizes some of the advantages of the typical tight coupling approach, but at a considerable reduced complexity. Based on the results of a field test campaign using a SIGIL-based prototype, it is shown that the GNSS receiver is able to provide a higher availability of more robust RTK fixed positions with a higher accuracy and reliability in conditions typical for mobile mapping applications.