caa a22 4500 606162410 CHVBK 20210128100639.0 cr unu---uuuuu 210128e20151001xx s 000 0 eng 10.1007/s10291-014-0415-3 doi (NATIONALLICENCE)springer-10.1007/s10291-014-0415-3 Tightly coupled integration of GPS precise point positioning and MEMS-based inertial systems [Elektronische Daten] [Mahmoud Abd Rabbou, Ahmed El-Rabbany] We develop a new integrated navigation system, which integrates GPS precise point positioning (PPP) with low-cost micro-electro-mechanical sensors (MEMS) inertial system, for precise positioning applications. Currently, most common GPS PPP techniques employ undifferenced ionosphere-free (IF) linear combination. In this work, both undifferenced and between-satellite single-difference (BSSD) IF linear combinations of pseudorange and carrier measurements are considered. IGS precise orbital and clock products are used to correct for satellite orbit and clock errors. Rigorous models are used to account for tropospheric delay, ocean loading, earth tide, carrier phase windup, relativity and satellite antenna phase-center variations. To integrate GPS PPP and MEMS-based inertial systems, the process and measurement models are developed. Tightly coupled mechanization is adopted, which is carried out in the raw measurements domain. Extended Kalman filter is developed to merge the corrected GPS satellite difference observations and inertial measurements and estimate inertial measurements biases and errors. A Matlab-based computer program is developed to carry out the tightly coupled integration. The performance of the proposed integrated system is analyzed using a real test situation. It is shown that decimeter-level positioning accuracy is achievable with both undifferenced and BSSD integrated systems. However, in general, better positioning accuracy is obtained with BSSD integrated system. Springer-Verlag Berlin Heidelberg, 2014 GPS nationallicence PPP nationallicence GPS/INS integration nationallicence Extended Kalman filter nationallicence Tightly coupled integration nationallicence Abd Rabbou Mahmoud Department of Civil Engineering, Ryerson University, Toronto, Canada aut El-Rabbany Ahmed Department of Civil Engineering, Ryerson University, Toronto, Canada aut GPS Solutions Springer Berlin Heidelberg 19/4(2015-10-01), 601-609 1080-5370 19:4<601 2015 19 10291 https://doi.org/10.1007/s10291-014-0415-3 text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s10291-014-0415-3 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Abd Rabbou Mahmoud Department of Civil Engineering, Ryerson University, Toronto, Canada aut NATIONALLICENCE 700 1- El-Rabbany Ahmed Department of Civil Engineering, Ryerson University, Toronto, Canada aut NATIONALLICENCE 773 0- GPS Solutions Springer Berlin Heidelberg 19/4(2015-10-01), 601-609 1080-5370 19:4<601 2015 19 10291