Development and evaluation of GNSS/INS data processing software

Quan Zhang; Xiaoji Niu; Linlin Gong; Hongping Zhang; Chuang Shi; Chuanchuan Liu; Jun Wang; Matthew Coleman

doi:10.1007/978-3-642-37407-4_63

Development and evaluation of GNSS/INS data processing software

Quan Zhang^*
, Xiaoji Niu
, Linlin Gong
, Hongping Zhang
, Chuang Shi
, Chuanchuan Liu
, Jun Wang
, Matthew Coleman

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

Currently there is less mature and reliable commercial software for GNSS/INS data processing in China. Relevant users have to rely on foreign software, e.g., POSPac and Inertial Explorer (IE). This has become one of the bottle-neck of applying GNSS/INS technology to survey and mapping areas in China. This paper introduces newly developed GNSS/INS data processing software - Cinertial. In the design of the algorithm, the local level frame is chosen as the reference frame; and the rotation vector is applied for the attitude update. The GNSS and INS information are fused by a Kalman filtering based on 21-dimensional error states vector. Moreover, Rauch-Tung-Striebel (RTS) backward smoothing algorithm is applied in the software to help ensure the best possible accuracies. The correctness of the developed software is tested and evaluated by the airborne and terrestrial datasets compare to IE and POSPac. The results show that Cinertial can reach the same level of the navigation accuracy as foreign commercial software.

Original language	English
Title of host publication	China Satellite Navigation Conference, CSNC 2013 - Proceedings
Subtitle of host publication	Precise Orbit Determination and Positioning - Atomic Clock Technique and Time-Frequency System - Integrated Navigation and New Methods
Publisher	Springer Verlag
Pages	685-696
Number of pages	12
ISBN (Print)	9783642374067
DOIs	https://doi.org/10.1007/978-3-642-37407-4_63
State	Published - 2013
Externally published	Yes
Event	4th China Satellite Navigation Conference, CSNC 2013 - Wuhan, China Duration: 13 May 2013 → 17 May 2013

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	245 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	4th China Satellite Navigation Conference, CSNC 2013
Country/Territory	China
City	Wuhan
Period	13/05/13 → 17/05/13

Keywords

Data processing software
GNSS/INS
Kalman filtering
Position and Orientation System (POS)

Access to Document

10.1007/978-3-642-37407-4_63

Cite this

Zhang, Q., Niu, X., Gong, L., Zhang, H., Shi, C., Liu, C., Wang, J., & Coleman, M. (2013). Development and evaluation of GNSS/INS data processing software. In China Satellite Navigation Conference, CSNC 2013 - Proceedings: Precise Orbit Determination and Positioning - Atomic Clock Technique and Time-Frequency System - Integrated Navigation and New Methods (pp. 685-696). (Lecture Notes in Electrical Engineering; Vol. 245 LNEE). Springer Verlag. https://doi.org/10.1007/978-3-642-37407-4_63

Zhang, Quan ; Niu, Xiaoji ; Gong, Linlin et al. / Development and evaluation of GNSS/INS data processing software. China Satellite Navigation Conference, CSNC 2013 - Proceedings: Precise Orbit Determination and Positioning - Atomic Clock Technique and Time-Frequency System - Integrated Navigation and New Methods. Springer Verlag, 2013. pp. 685-696 (Lecture Notes in Electrical Engineering).

@inproceedings{e3b61fd431944a519bc3af80e29cd223,

title = "Development and evaluation of GNSS/INS data processing software",

abstract = "Currently there is less mature and reliable commercial software for GNSS/INS data processing in China. Relevant users have to rely on foreign software, e.g., POSPac and Inertial Explorer (IE). This has become one of the bottle-neck of applying GNSS/INS technology to survey and mapping areas in China. This paper introduces newly developed GNSS/INS data processing software - Cinertial. In the design of the algorithm, the local level frame is chosen as the reference frame; and the rotation vector is applied for the attitude update. The GNSS and INS information are fused by a Kalman filtering based on 21-dimensional error states vector. Moreover, Rauch-Tung-Striebel (RTS) backward smoothing algorithm is applied in the software to help ensure the best possible accuracies. The correctness of the developed software is tested and evaluated by the airborne and terrestrial datasets compare to IE and POSPac. The results show that Cinertial can reach the same level of the navigation accuracy as foreign commercial software.",

keywords = "Data processing software, GNSS/INS, Kalman filtering, Position and Orientation System (POS)",

author = "Quan Zhang and Xiaoji Niu and Linlin Gong and Hongping Zhang and Chuang Shi and Chuanchuan Liu and Jun Wang and Matthew Coleman",

year = "2013",

doi = "10.1007/978-3-642-37407-4\_63",

language = "英语",

isbn = "9783642374067",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Verlag",

pages = "685--696",

booktitle = "China Satellite Navigation Conference, CSNC 2013 - Proceedings",

address = "德国",

note = "4th China Satellite Navigation Conference, CSNC 2013 ; Conference date: 13-05-2013 Through 17-05-2013",

}

Zhang, Q, Niu, X, Gong, L, Zhang, H, Shi, C, Liu, C, Wang, J & Coleman, M 2013, Development and evaluation of GNSS/INS data processing software. in China Satellite Navigation Conference, CSNC 2013 - Proceedings: Precise Orbit Determination and Positioning - Atomic Clock Technique and Time-Frequency System - Integrated Navigation and New Methods. Lecture Notes in Electrical Engineering, vol. 245 LNEE, Springer Verlag, pp. 685-696, 4th China Satellite Navigation Conference, CSNC 2013, Wuhan, China, 13/05/13. https://doi.org/10.1007/978-3-642-37407-4_63

Development and evaluation of GNSS/INS data processing software. / Zhang, Quan; Niu, Xiaoji; Gong, Linlin et al.
China Satellite Navigation Conference, CSNC 2013 - Proceedings: Precise Orbit Determination and Positioning - Atomic Clock Technique and Time-Frequency System - Integrated Navigation and New Methods. Springer Verlag, 2013. p. 685-696 (Lecture Notes in Electrical Engineering; Vol. 245 LNEE).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Development and evaluation of GNSS/INS data processing software

AU - Zhang, Quan

AU - Niu, Xiaoji

AU - Gong, Linlin

AU - Zhang, Hongping

AU - Shi, Chuang

AU - Liu, Chuanchuan

AU - Wang, Jun

AU - Coleman, Matthew

PY - 2013

Y1 - 2013

N2 - Currently there is less mature and reliable commercial software for GNSS/INS data processing in China. Relevant users have to rely on foreign software, e.g., POSPac and Inertial Explorer (IE). This has become one of the bottle-neck of applying GNSS/INS technology to survey and mapping areas in China. This paper introduces newly developed GNSS/INS data processing software - Cinertial. In the design of the algorithm, the local level frame is chosen as the reference frame; and the rotation vector is applied for the attitude update. The GNSS and INS information are fused by a Kalman filtering based on 21-dimensional error states vector. Moreover, Rauch-Tung-Striebel (RTS) backward smoothing algorithm is applied in the software to help ensure the best possible accuracies. The correctness of the developed software is tested and evaluated by the airborne and terrestrial datasets compare to IE and POSPac. The results show that Cinertial can reach the same level of the navigation accuracy as foreign commercial software.

AB - Currently there is less mature and reliable commercial software for GNSS/INS data processing in China. Relevant users have to rely on foreign software, e.g., POSPac and Inertial Explorer (IE). This has become one of the bottle-neck of applying GNSS/INS technology to survey and mapping areas in China. This paper introduces newly developed GNSS/INS data processing software - Cinertial. In the design of the algorithm, the local level frame is chosen as the reference frame; and the rotation vector is applied for the attitude update. The GNSS and INS information are fused by a Kalman filtering based on 21-dimensional error states vector. Moreover, Rauch-Tung-Striebel (RTS) backward smoothing algorithm is applied in the software to help ensure the best possible accuracies. The correctness of the developed software is tested and evaluated by the airborne and terrestrial datasets compare to IE and POSPac. The results show that Cinertial can reach the same level of the navigation accuracy as foreign commercial software.

KW - Data processing software

KW - GNSS/INS

KW - Kalman filtering

KW - Position and Orientation System (POS)

UR - https://www.scopus.com/pages/publications/84880707746

U2 - 10.1007/978-3-642-37407-4_63

DO - 10.1007/978-3-642-37407-4_63

M3 - 会议稿件

AN - SCOPUS:84880707746

SN - 9783642374067

T3 - Lecture Notes in Electrical Engineering

SP - 685

EP - 696

BT - China Satellite Navigation Conference, CSNC 2013 - Proceedings

PB - Springer Verlag

T2 - 4th China Satellite Navigation Conference, CSNC 2013

Y2 - 13 May 2013 through 17 May 2013

ER -

Zhang Q, Niu X, Gong L, Zhang H, Shi C, Liu C et al. Development and evaluation of GNSS/INS data processing software. In China Satellite Navigation Conference, CSNC 2013 - Proceedings: Precise Orbit Determination and Positioning - Atomic Clock Technique and Time-Frequency System - Integrated Navigation and New Methods. Springer Verlag. 2013. p. 685-696. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-3-642-37407-4_63

Development and evaluation of GNSS/INS data processing software

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this