PT  - JOURNAL ARTICLE
AU  - James E. Yoder
AU  - Todd E. Humphreys
TI  - Low-Cost Inertial Aiding for Deep-Urban Tightly Coupled Multi-Antenna Precise GNSS
AID  - 10.33012/navi.561
DP  - 2023 Mar 20
TA  - NAVIGATION: Journal of the Institute of Navigation
PG  - navi.561
VI  - 70
IP  - 1
4099  - https://navi.ion.org/content/70/1/navi.561.short
4100  - https://navi.ion.org/content/70/1/navi.561.full
SO  - NAVIGATION2023 Mar 20; 70
AB  - A vehicular pose estimation technique is presented that tightly couples multi-antenna carrier-phase differential GNSS (CDGNSS) with a low-cost MEMS inertial sensor and vehicle dynamic constraints. This work is the first to explore the use of consumer-grade inertial sensors for tightly coupled urban CDGNSS, and first to explore the tightly coupled combination of multi-antenna CDGNSS and inertial sensing (of any quality) for urban navigation. An unscented linearization permits ambiguity resolution using traditional integer least-squares while both implicitly enforcing known-baseline-length constraints and exploiting the multi-baseline problem’s inter-baseline correlations. A novel false fix detection and recovery technique is developed to mitigate the effect of conditioning the filter state on incorrect integers. When evaluated on the publicly available TEX-CUP urban positioning data set, the proposed technique achieves, with consumer- and industrial-grade inertial sensors, respectively, a 96.6% and 97.5% integer fix availability, and a 12.0-cm and 10.1-cm overall (fix and float) 95th percentile horizontal positioning error.