Real-Time Ultra-Tight Integration of GNSS and Multi-Sensors with Block Processing

Tao Li, Jacques Georgy, and Zainab Syed

Abstract:	Global Navigation Satellite Systems (GNSS) plays an important role in today’s positioning, navigation and guidance systems and has been widely used in various applications. However even high sensitivity GNSS receivers would suffer degraded performance or completely fail to operate in urban canyon or indoor environments where GNSS signals are severely attenuated, jammed, reflected, or blocked. Given the limitations of GNSS-only navigation systems, inertial sensors, barometers, magnetometers, and various sensors can be integrated with GNSS receivers to provide a continuous, always-available, and reliable navigation solution. In terms of integration strategies, the ultra-tight or deep integration, has gained increasingly more popularities over the conventional loose or tight integrations. It increases the GNSS receiver’s re-acquisition speed, reduce the dynamic stress of the tracking loops, decrease the negative impact of multi-path signals etc. This paper presents a real-time ultra-tight GNSS/multi-sensor integrated system with combined conventional and block processing strategies. Unlike most of the previous real-time ultra-tight systems using only three correlators due to the limited computational ability, the proposed system uses a block of correlators to improve system tracking and navigation performance. With the power of FPGA, a block of correlators can be used together to generate more accurate and robust Doppler and code phase measurements in real time. The performance of the ultra-tight integrated system has been verified on real-life road tests. The results have been examined to verify the suitability and satisfactory performance of the solution, even in deep urban canyon environments.
Published in:	Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014) September 8 - 12, 2014 Tampa Convention Center Tampa, Florida
Pages:	1941 - 1947
Cite this article:	Li, Tao, Georgy, Jacques, Syed, Zainab, "Real-Time Ultra-Tight Integration of GNSS and Multi-Sensors with Block Processing," Proceedings of the 27th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2014), Tampa, Florida, September 2014, pp. 1941-1947.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In