顾及ISB/IFB的多GNSSRTK/INS紧组合导航方法

For better complementarity among multi-GNSS in GNSS challenging environment, multi-GNSS RTK/INS tightly coupled integration with consideration of ISB/IFB estimation is proposed, aiming at ambiguity resolution (AR) failure subject to signal difference between GNSS. Multi-GNSS RTK/INS tightly coupled measurement equation with ISB/IFB parameters is established, and the ISB/IFB estimation algorithm using robust estimation and particle swarm optimization (PSO) is proposed. The experimental results demonstrate that ambiguity-fixing success rate can be increased to a certain extend considering ISB/IFB estimation. Inter-GNSS ambiguity-fixing success rate is related to the accuracy of float solutions, and adopting measurement noise parameter adaptive control to improve float state estimation accuracy can leads better performance in terms of multi-GNSS RTK/INS inter-GNSS AR and navigation accuracy.