Performance Analysis of Global Navigation Satellite System Signal Acquisition Aided by Different Grade Inertial Navigation System under Highly Dynamic Conditions
<p>Schematic diagram of the search scope under three conditions.</p> "> Figure 2
<p>The detection probability with different <math display="inline"> <semantics> <mrow> <mo>Δ</mo> <mi>τ</mi> </mrow> </semantics> </math> and <math display="inline"> <semantics> <mrow> <mo>Δ</mo> <mi>f</mi> </mrow> </semantics> </math>: (<b>a</b>) the <math display="inline"> <semantics> <mrow> <mo>Δ</mo> <mi>τ</mi> </mrow> </semantics> </math> is 0, 1/8, 1/4, 1/2 chip; (<b>b</b>) the <math display="inline"> <semantics> <mrow> <mo>Δ</mo> <mi>f</mi> </mrow> </semantics> </math> is 0, 200, 500, 800, 1200, 1500 Hz.</p> "> Figure 3
<p>INS-aided acquisition scheme.</p> "> Figure 4
<p>Satellite pseudo-range scheme.</p> "> Figure 5
<p>The block diagram of simulation platform.</p> "> Figure 6
<p>The constellation of BDS and GPS in the simulation.</p> "> Figure 7
<p>The RF frontend designed based on a MAX2769.</p> "> Figure 8
<p>The three-dimensional high dynamic trajectory in the geodetic frame.</p> "> Figure 9
<p>Velocity and position errors of MEMS grade INS: (<b>a</b>) the velocity error curve of MEMS grade INS; (<b>b</b>) the position error curve of MEMS grade INS.</p> "> Figure 10
<p>Velocity and position errors of civil grade INS: (<b>a</b>) the velocity error curve of civil grade INS; (<b>b</b>) the position error curve of civil grade INS.</p> "> Figure 11
<p>Velocity and position errors of tactical grade INS: (<b>a</b>) the velocity error curve of tactical grade INS; (<b>b</b>) the position error curve of tactical grade INS.</p> "> Figure 12
<p>Velocity and position errors of inertial grade INS: (<b>a</b>) the velocity error curve of inertial grade INS; (<b>b</b>) the position error curve of inertial grade INS.</p> ">
Abstract
:1. Introduction
2. The Principle of INS-Aided Acquisition
2.1. Characteristics of GPS L1 Frequency and BDS B1 Frequency Signals Modulation
2.2. INS-Aided Acquisition Methodology
3. Frequency Shift and Code Phase Estimation Theory
3.1. Frequency Shift Estimation
3.2. Code Phase Estimation
4. Doppler Shift Estimation Error and Code Phase Estimation Error
5. The INS-Aided Acquisition Experiments with Different Grade INS
5.1. Simulation Scenario Design
5.2. Parameters of Different Grade INS
5.3. Velocity and Position Error Using Different INS
5.4. Doppler Shift and Code Phase Estimation Errors Using Different Grade INS
5.5. INS-Aided Acquisition Experiments and Results
6. Conclusions
Author Contributions
Conflicts of Interest
References
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Parameter | BDS B1 Signal | GPS L1 Signal |
---|---|---|
Center Freq. (MHz) | 1561.098 MHz | 1575.42 MHz |
Modulation Type | QPSK-CDMA | BPSK-CDMA |
Code Rate (MHz) | 2.046 | 1.023 |
Code Length (chip) | 2046 | 1023 |
Symbol Rate | GEO 500 bps, MEO/IGSO 50 bps | 50 bps |
Motion State | Time (s) | Angular Rate (°/s) | Acceleration (m/s2) | ||||
---|---|---|---|---|---|---|---|
x Axis | y Axis | z Axis | x Axis | y Axis | z Axis | ||
Acceleration | 10 | 0 | 0 | 0 | 0 | 100 | 0 |
Uniform motion | 30 | 0 | 0 | 0 | 0 | 0 | 0 |
Turning right | 10 | 0 | 0 | 9 | −1.57 | 0 | 0 |
Uniform motion | 20 | 0 | 0 | 0 | 0 | 0 | 0 |
Turning left | 10 | 0 | 0 | −9 | 1.57 | 0 | 0 |
Uniform motion | 30 | 0 | 0 | 0 | 0 | 0 | 0 |
Climbing | 10 | 10 | 0 | 0 | 0 | 0 | 1.74 |
Uniform motion | 20 | 0 | 0 | 0 | 0 | 0 | 0 |
Yielding | 10 | −10 | 0 | 0 | 0 | 0 | −1.74 |
Uniform motion | 30 | 0 | 0 | 0 | 0 | 0 | 0 |
IMU Parameters | MEMS Grade | Civil Grade | Tactical Grade | Inertial Grade | |
---|---|---|---|---|---|
Gyro | Constant bias (°/h) | 10 | 1 | 0.1 | 0.01 |
Bias stability (°/h) | 10 | 1 | 0.1 | 0.01 | |
Random walk (°/) | 1 | 0.1 | 0.01 | 0.001 | |
Accelerometer | Constant bias (mg) | 10 | 1 | 0.1 | 0.01 |
Bias stability (mg) | 10 | 1 | 0.1 | 0.01 | |
Random walk (mg/) | 1 | 0.1 | 0.01 | 0.001 |
Maximum Error | MEMS Grade | Civil Grade | Tactical Grade | Inertial Grade | |
---|---|---|---|---|---|
Velocity (m/s) | x axis | 11.14 | 1.88 | 0.22 | −0.016 |
y axis | −45.09 | −4.98 | 0.60 | −0.1085 | |
z axis | 5.19 | 0.52 | 0.04 | −0.0183 | |
Position (m) | x axis | 1115 | 265.5 | 11.33 | 0.99 |
y axis | −2737 | −328.6 | 34.66 | −5.23 | |
z axis | 725.2 | 73.2 | 4.18 | −0.48 |
MEMS Grade | Civil Grade | Tactical Grade | Inertial Grade | ||
---|---|---|---|---|---|
BDS | PRN 3 | 164.0205 | 19.8074 | 2.2807 | 0.3910 |
PRN 6 | 112.2213 | 13.1841 | 1.4684 | 0.2656 | |
PRN 7 | 139.3393 | 16.5499 | 1.8787 | 0.3185 | |
PRN 9 | 134.6166 | 15.6793 | 1.7725 | 0.3139 | |
PRN 10 | 161.1931 | 18.9910 | 2.1786 | 0.3649 | |
PRN 14 | 190.0555 | 22.9295 | 2.6264 | 0.4121 | |
GPS | PRN 12 | 188.4075 | 22.3989 | 2.6002 | 0.4160 |
PRN 14 | 79.7551 | 8.8936 | 0.9501 | 0.2053 | |
PRN 22 | 85.3412 | 9.8542 | 1.0636 | 0.2127 | |
PRN 25 | 196.1639 | 22.2265 | 2.5813 | 0.4490 | |
PRN 31 | 218.4609 | 25.5183 | 3.0269 | 0.4730 | |
PRN 32 | 129.8616 | 16.5743 | 1.8918 | 0.2780 |
MEMS Grade | Civil Grade | Tactical Grade | Inertial Grade | ||
---|---|---|---|---|---|
BDS | PRN 3 | 16.6109 | 2.3727 | 0.1767 | 0.0229 |
PRN 6 | 12.3420 | 1.6628 | 0.1198 | 0.0154 | |
PRN 7 | 14.5754 | 2.0277 | 0.1488 | 0.0192 | |
PRN 9 | 14.0123 | 1.8668 | 0.1423 | 0.0186 | |
PRN 10 | 16.1468 | 2.2217 | 0.1707 | 0.0224 | |
PRN 14 | 18.3990 | 2.6928 | 0.2032 | 0.0264 | |
GPS | PRN 12 | 9.0416 | 1.2784 | 0.0988 | 0.0130 |
PRN 14 | 4.6490 | 0.5560 | 0.0408 | 0.0054 | |
PRN 22 | 5.0048 | 0.6440 | 0.0445 | 0.0057 | |
PRN 25 | 8.9826 | 1.1339 | 0.0998 | 0.0138 | |
PRN 31 | 9.4901 | 1.3072 | 0.1128 | 0.0154 | |
PRN 32 | 7.0746 | 1.1309 | 0.0714 | 0.0086 |
No INS Assisted | MEMS Grade | Civil Grade | Tactical Grade | Inertial Grade | |
---|---|---|---|---|---|
Number of satellites | 12 | 12 | 12 | 12 | 12 |
Frequency range | ±5 KHz | ±500 Hz | ±500 Hz | ±500 Hz | ±500 Hz |
Frequency search space | 500 Hz | 500 Hz | 500 Hz | 500 Hz | 500 Hz |
Code phase range | GPS:1023 | GPS:10 | GPS:10 | GPS:10 | GPS:10 |
BDS:2046 | BDS:20 | BDS:20 | BDS:20 | BDS:20 | |
Code phase search space | 0.5 | 0.5 | 0.5 | 0.5 | 0.5 |
Search cells | GPS: 42966 | GPS:60 | GPS:60 | GPS:60 | GPS:60 |
BDS: 85932 | BDS:120 | BDS:120 | BDS:120 | BDS:120 | |
Acquisition time | 12.87s | 1.85s | 1.85s | 1.85s | 1.85s |
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Zhang, C.; Li, X.; Gao, S.; Lin, T.; Wang, L. Performance Analysis of Global Navigation Satellite System Signal Acquisition Aided by Different Grade Inertial Navigation System under Highly Dynamic Conditions. Sensors 2017, 17, 980. https://doi.org/10.3390/s17050980
Zhang C, Li X, Gao S, Lin T, Wang L. Performance Analysis of Global Navigation Satellite System Signal Acquisition Aided by Different Grade Inertial Navigation System under Highly Dynamic Conditions. Sensors. 2017; 17(5):980. https://doi.org/10.3390/s17050980
Chicago/Turabian StyleZhang, Chunxi, Xianmu Li, Shuang Gao, Tie Lin, and Lu Wang. 2017. "Performance Analysis of Global Navigation Satellite System Signal Acquisition Aided by Different Grade Inertial Navigation System under Highly Dynamic Conditions" Sensors 17, no. 5: 980. https://doi.org/10.3390/s17050980