论文标题
低成本的惯性帮助，以实现深城市紧密耦合的多腹腔精确的GNSS
Low-Cost Inertial Aiding for Deep-Urban Tightly-Coupled Multi-Antenna Precise GNSS
论文作者
论文摘要
提出了一种车辆姿势估计技术，该技术与具有低成本的MEMS惯性传感器和车辆动力学约束的紧密伴侣多夫人夫妇多夫人载体相差GNSS（CDGNSS）。这项工作是第一个探索使用消费级惯性传感器来进行紧密耦合的城市CDGNS的工作，并首先探索多个Antenna CDGNSS和（任何质量）的惯性感测的紧密耦合组合。无用的线性化允许使用传统整数最小二乘正方形，同时隐含地执行已知的基线长度约束，并利用多基线问题的基线间相关性。开发了一种新颖的错误修复检测和恢复技术，以减轻调节滤波器状态对不正确整数的影响。当对公共可用的Tex-Cup Urban定位数据集进行评估时，该提议的技术分别具有消费者和工业级的惯性传感器，分别为96.6％和97.5％的整数固定可用性，以及12.0 cm和12.0 cm和10.1 cm和10.1 cm的总体（固定和浮动）95th peratie the ther persitile水平的位置错误。
A vehicular pose estimation technique is presented that tightly couples multi-antenna carrier-phase differential GNSS (CDGNSS) with a low-cost MEMS inertial sensor and vehicle dynamics constraints. This work is the first to explore the use of consumer-grade inertial sensors for tightly-coupled urban CDGNSS, and first to explore the tightly-coupled combination of multi-antenna CDGNSS and inertial sensing (of any quality) for urban navigation. An unscented linearization permits ambiguity resolution using traditional integer least squares while both implicitly enforcing known-baseline-length constraints and exploiting the multi-baseline problem's inter-baseline correlations. A novel false fix detection and recovery technique is developed to mitigate the effect of conditioning the filter state on incorrect integers. When evaluated on the publicly-available TEX-CUP urban positioning dataset, the proposed technique achieves, with consumer- and industrial-grade inertial sensors, respectively, a 96.6% and 97.5% integer fix availability, and 12.0 cm and 10.1 cm overall (fix and float) 95th percentile horizontal positioning error.
