Semi-tightly coupled integration of multi-GNSS PPP and S-VINS for precise positioning in GNSS-challenged environments

作     者：Xingxing Li Xuanbin Wang Jianchi Liao Xin Li Shengyu Li Hongbo Lyu 

作者机构：School of Geodesy and GeomaticsWuhan University129 Luoyu RoadWuhan 430079China 

出 版 物：《Satellite Navigation》 (卫星导航（英文）)

年 卷 期：2021年第2卷第1期

页      面：1-14页

核心收录：

学科分类：081802[工学-地球探测与信息技术] 08[工学] 081105[工学-导航、制导与控制] 0818[工学-地质资源与地质工程] 0804[工学-仪器科学与技术] 0811[工学-控制科学与工程] 

基　　金：the National Natural Science Foundation of China(Grant No.41774030,Grant 41974027) the Hubei Province Natural Science Foundation of China(Grant No.2018CFA081) the National Youth Thousand Talents Program,the frontier project of basic application from Wuhan science and technology bureau(Grant No.2019010701011395) the Sino-German mobility programme(Grant No.M-0054) 

主　　题：Multi-GNSS PPP Visual-inertial odometry Multi-sensor fusion GNSS-challenged environment Autonomous driving 

摘      要：Because of its high-precision,low-cost and easy-operation,Precise Point Positioning(PPP)becomes a potential and attractive positioning technique that can be applied to self-driving cars and ***,the reliability and availability of PPP will be significantly degraded in the extremely difficult conditions where Global Navigation Satellite System(GNSS)signals are blocked *** Navigation System(INS)has been integrated with GNSS to ameliorate such situations in the last ***,the Visual-Inertial Navigation Systems(VINS)with favorable complementary characteristics is demonstrated to realize a more stable and accurate local position estimation than the ***,the system still must rely on the global positions to eliminate the accumulated *** this contribution,we present a semi-tight coupling framework of multi-GNSS PPP and Stereo VINS(S-VINS),which achieves the bidirectional location transfer and sharing in two separate navigation *** our approach,the local positions,produced by S-VINS are integrated with multi-GNSS PPP through a graph-optimization based ***,the accurate forecast positions with S-VINS are fed back to assist PPP in GNSS-challenged *** statistical analysis of a GNSS outage simulation test shows that the S-VINS mode can effectively suppress the degradation of positioning accuracy compared with the INS-only *** also carried out a vehicle-borne experiment collecting multi-sensor data in a GNSS-challenged *** the complex driving environment,the PPP positioning capability is significantly improved with the aiding of *** 3D positioning accuracy is improved by 49.0%for Global Positioning System(GPS),40.3%for GPS+GLOANSS(Global Navigation Satellite System),45.6%for GPS+BDS(BeiDou navigation satellite System),and 51.2%for GPS+GLONASS+*** this basis,the solution with the semi-tight coupling scheme of multi-GNSS PPP/S-VINS achieves the improvements of 41