Abstract
To upgrade the positioning accuracy, re-initialization speed, and attitude determination performance of precise point positioning (PPP) in dynamic applications, we proposed a multi-sensor fusion system consisting of four global navigation satellite systems (GNSSs), namely GPS, BDS, Galileo, and GLONASS, several low-cost inertial sensors, and an odometer. The study shows that the performance of PPP in terms of continuity, reliability, stability, and re-initialization speed improves by such a multi-sensor fusion system. This manifests itself in a significantly increased accuracy. For position solutions, compared to un-aided PPP solutions, the improvements achieved using low-cost inertial navigation system (INS) are about 36.4, 38.7, and 31.3% in the north, east, and vertical components, respectively, and the improvement using odometer are about 1.58, 0.35, and 4.32% relative to the INS-aided PPP solutions. Moreover, using the odometer can provide more than 2.1, 1.4, and 50.6% attitude improvements for roll, pitch, and heading angles compared to the attitude solutions obtained from the INS-aided PPP system. Under GNSS outage conditions, the mean position improvements using the odometer are about 2.3, 1.8, and 8.7%, with maximum increases of 74.6, 74.7, and 28.3%, and the average attitude improvements are about 4.7, 5.4, and 3.3%, with maximum increases of 36.4, 31.7, and 28.9%, respectively. This means that the odometer can enhance the performance of PPP and PPP/INS integration in challenging dynamic conditions.
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Acknowledgements
Many thanks to GNSS Research Center, Wuhan University, China, for providing the land-borne data and the precise GNSS products. This work was supported partly by National 973 Project of China (Grant Nos. 2013CB733301 and 2013CB733305) and National Key Research and Development Program of China (Grant No. 2016YFB0501804).
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Gao, Z., Ge, M., Li, Y. et al. Odometer, low-cost inertial sensors, and four-GNSS data to enhance PPP and attitude determination. GPS Solut 22, 57 (2018). https://doi.org/10.1007/s10291-018-0725-y
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DOI: https://doi.org/10.1007/s10291-018-0725-y