As Global Navigation Satellite Systems (GNSS) and inertial measurement units (IMUs) are gradually emerging as ubiquitous, utilizing redundant sensors to achieve accurate and robust large-scale navigation holds great promise. In this article, we propose a tightly coupled precise point positioning-real-time kinematic (PPP-RTK)/IMU system with multiple homogeneous sensors to enable high-precision and high-availability vehicle navigation. In it, a stacked Kalman filter is employed to fuse raw pseudorange and carrier phase measurements from all GNSS terminals, driven by a core IMU designated randomly. In PPP-RTK processing, precise atmospheric and bias corrections from a GNSS server are leveraged to quickly resolve carrier phase ambiguity, thus ensuring centimeter-level positioning. Besides, rotation and translation constraints from redundant IMUs are imposed on the estimation pipeline to further improve the state estimation. Real-world experiments show that the proposed method can achieve an availability of 98.7% (horizontal position error <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$&lt; $</tex-math></inline-formula> 0.1 m) in a half-open-sky case, which is far better than the state-of-the-art methods. Also, redundant sensors not only contribute significantly to the integer ambiguity resolution, but are also able to promise continuous state estimation in the case of sensor failure.

Zhiheng Shen

Xin Li

Xingxing Li

IEEE Transactions on Industrial Electronics

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 每月出版一次。其范围包括电子、控制和通信、仪器仪表和计算智能的应用，以增强工业和制造系统和流程。包括电力电子和驱动控制技术、系统控制和信号处理、故障检测和诊断、电力系统、仪器仪表、测量和测试、建模和仿真、运动控制、机器人、传感器和执行器、神经网络的实现、模糊逻辑、工业系统、工厂自动化、通信和计算机网络中的人工智能。

The IEEE Transactions on Industrial Electronics is a monthly journal that covers the application of electronics, control and communication, instrumentation, and computational intelligence to enhance industrial and manufacturing systems and processes. The journal includes topics such as power electronics and drive control technologies, system control and signal processing, fault detection and diagnosis, power systems, instrumentation, measurement and testing, modeling and simulation, motion control, robotics, sensors and actuators, implementation of neural networks, fuzzy logic, industrial systems, factory automation, and artificial intelligence in communication and computer networks.

《IEEE Transactions on Industrial Electronics》是一本每月出版的期刊，涵盖电子、控制与通信、仪器仪表及计算智能在工业和制造系统中的应用。期刊内容包括电力电子与驱动控制技术、系统控制与信号处理、故障检测与诊断、电力系统、仪器仪表、测量与测试、建模与仿真、运动控制、机器人、传感器与执行器、神经网络实现、模糊逻辑、工业系统、工厂自动化以及通信与计算机网络中的人工智能等领域。

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Advancing High-Precision Navigation: Leveraging Homogeneous Sensors in Tightly Coupled PPP-RTK/IMU Integration

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