A tightly coupled inertial navigation system (INS) aided by ambient signals of opportunity (SOPs) is developed. In this system, a navigating vehicle aids its onboard INS using pseudoranges drawn from terrestrial SOPs with unknown emitter positions and clock biases through an extended Kalman filter-based radio simultaneous localization and mapping (SLAM) framework. The SOP-aided INS uses both global navigation satellite system (GNSS) and SOP pseudoranges during GNSS availability periods and switches to using SOP pseudoranges exclusively during GNSS unavailability periods. This framework is studied through numerical simulations by varying: 1) Quantity of exploited SOPs and 2) quality of SOP-equipped oscillators. It is demonstrated that the SOP-aided INS using a consumer-grade IMU produces smaller estimation uncertainties compared to a traditional tightly coupled GNSS-aided INS using a tactical-grade IMU. In the absence of GNSS signals, over the simulation finite-time horizon, the errors produced by the SOP-aided INS appear to be bounded, while the errors produced by a traditional tightly coupled GNSS-aided INS diverge unboundedly. Moreover, the article presents experimental results demonstrating an unmanned aerial vehicle using terrestrial cellular SOPs to aid its onboard consumer-grade IMU in the absence of GNSS signals. It is demonstrated that the final position error of a traditional tightly coupled GNSS-aided INS after 30 s of GNSS cutoff was 57.30 m, while the final position error of the tightly coupled SOP-aided INS was 9.59 m.
Tightly Coupled Inertial Navigation System With Signals of Opportunity Aiding
IEEE Transactions on Aerospace and Electronic Systems ; 57 , 3 ; 1930-1948
2021-06-01
7273855 byte
Article (Journal)
Electronic Resource
English
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