A Dynamic Initialization Method for LEO/INS Integrated Positioning
- 所属单位：北京航空航天大学
- 发表刊物：IEEE Transactions on Instrumentation and Measurement
- 关键字：GNSS, LEO satellite, SOP, INS, Integrated positioning
- 摘要：Abstract—In the context of Global Navigation Satellite System (GNSS) denial environments, positioning can be achieved
using Low Earth Orbit (LEO) satellite signals of opportunity
(SOP). When the instantaneous visibility of LEO satellites is
insufficient, independent dynamic positioning cannot be realized,
necessitating the combination with Inertial Navigation Systems
(INS) for dynamic positioning. However, in current research,
LEO/INS integrated positioning either requires the initialization
of states using GNSS/INS or demands a prolonged stationary
period to utilize SOP for providing initial states. Both of these
scenarios severely limit practical applications. Addressing this
issue, this paper proposes an initialization method based on
dynamic multi-epoch (D-ME), enabling independent dynamic
initialization of Iridium satellites and INS with very minor
loss of positioning accuracy. Due to the low orbital altitude of
LEO satellites, arbitrary selection of initial iteration values for
position is not feasible. To ensure the strong convergence of the
initialization model, an algorithm is proposed based on Iridium
signal pseudorange differences and Doppler differences (PDDD) for determining initial position iteration values. Vehicular
experiments were conducted using actual Iridium signals, and the
results indicate that, compared to GNSS initialization and the 15-
min static initialization, the 15-min dynamic initialization based
on the proposed method can achieve comparable positioning
performance after filter convergence.
- 论文类型：期刊论文
- 一级学科：信息与通信工程
- 文献类型：期刊
- 是否译文：否
- 收录刊物：SCI
