Research of a Fault Tolerant Vector Tracking Based GNSS/SINS Deep Integration Navigation System

Abstract

For a vector tracking based GNSS/SINS deeply integrated navigation system, the key component is the robust vector tracking loop. The vector tracking loop employs a central Kalman filter to complete the tracking and navigation together. In this way, the channel with strong signal can aid the weak signal channel. However, the drawback is that the faulty or low-quality channel will definitely affect the performance of the vector tracking loop and integrated navigation system. To solve the problem, this paper proposed a new fault tolerant vector tracking loop (NVTL) utilizing a pre-filter structure. A fault detection function utilizing the innovation sequence is employed to adaptively tune the measurement noise parameters of the designed pre-filters. Based on a software-defined GNSS receiver, the deep integration system was developed. The test results show that the proposed faulty tolerant vector tracking loop based GNSS/SINS deeply integrated navigation system can effectively improve the robustness and position accuracy under the presence of low-quality or faulty channels.