TY - GEN
T1 - Factor Graph Optimization for Tightly-coupled GNSS Pseudorange/Doppler/Carrier phase/INS Integration
T2 - 35th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2022
AU - Wen, Weisong
AU - Hsu, Li Ta
N1 - Publisher Copyright:
© 2022 35th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2022. All rights reserved.
PY - 2022
Y1 - 2022
N2 - The combination of the global navigation satellite system (GNSS) and the inertial navigation system (INS) is extensively studied due to their complementariness. The recently investigated factor graph optimization (FGO)-based GNSS/INS integration positioning showed significantly improved performance in urban canyons, due to the global optimization property and the increased measurement redundancy of FGO, compared with the extended Kalman filtering (EKF) based method. However, only the GNSS pseudorange measurement was utilized in the existing FGO-based GNSS/INS integration, and the potential of the Doppler frequency and carrier-phase measurements is still to be explored. To fill this gap, this paper proposed a tightly-coupled GNSS/INS integration via FGO by exploiting the potential of diverse raw GNSS measurements. Specifically, the GNSS pseudorange, Doppler frequency, and time-differenced carrier-phase (TDCP) measurements are integrated with the INS via factor graph optimization. The effectiveness of the proposed method is verified step-by-step using the challenging datasets collected using both automobile-level GNSS receivers in urban canyons of Hong Kong.
AB - The combination of the global navigation satellite system (GNSS) and the inertial navigation system (INS) is extensively studied due to their complementariness. The recently investigated factor graph optimization (FGO)-based GNSS/INS integration positioning showed significantly improved performance in urban canyons, due to the global optimization property and the increased measurement redundancy of FGO, compared with the extended Kalman filtering (EKF) based method. However, only the GNSS pseudorange measurement was utilized in the existing FGO-based GNSS/INS integration, and the potential of the Doppler frequency and carrier-phase measurements is still to be explored. To fill this gap, this paper proposed a tightly-coupled GNSS/INS integration via FGO by exploiting the potential of diverse raw GNSS measurements. Specifically, the GNSS pseudorange, Doppler frequency, and time-differenced carrier-phase (TDCP) measurements are integrated with the INS via factor graph optimization. The effectiveness of the proposed method is verified step-by-step using the challenging datasets collected using both automobile-level GNSS receivers in urban canyons of Hong Kong.
UR - http://www.scopus.com/inward/record.url?scp=85167791902&partnerID=8YFLogxK
U2 - 10.33012/2022.18337
DO - 10.33012/2022.18337
M3 - Conference article published in proceeding or book
AN - SCOPUS:85167791902
T3 - 35th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2022
SP - 2146
EP - 2157
BT - 35th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2022
PB - The Institute of Navigation
Y2 - 19 September 2022 through 23 September 2022
ER -