SOP-Aided INS Using Terrestrial Signals for Bounded Error
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Solution Overview
Problem
Integrated GNSS-INS navigation systems face instability when GNSS signals become unavailable, leading to error divergence, particularly in consumer and small-size applications using affordable MEMS-grade IMUs, which are susceptible to large error divergence rates.
Innovation Solution
The implementation of a signal of opportunity (SOP)-aided INS framework that utilizes terrestrial SOPs, such as radio infrastructure, to provide pseudoranges and improve navigation reliability by fusing IMU data with SOP pseudoranges through a tightly-coupled estimator, estimating both receiver and SOP states using a dynamic estimator, and adapting a SLAM-type strategy to correct INS errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If GNSS-INS integration is used, then long-term stability is improved, but reliability deteriorates when GNSS signals become unavailable
Solution Approach 1:
The patent introduces an intermediary system (terrestrial signal of opportunity infrastructure) that mediates between GNSS and INS. When GNSS signals are unavailable, the SOP infrastructure acts as a mediator to provide positioning signals, preventing the INS errors from diverging and maintaining system reliability without sacrificing long-term stability.
2Ease of manufacture
If consumer-grade MEMS IMUs are used, then cost is reduced, but measurement precision deteriorates due to large error divergence rates
Solution Approach 1:
The patent implements a feedback mechanism where SOP pseudorange measurements continuously correct INS position estimates. This feedback loop compensates for the accumulated errors from consumer-grade MEMS IMUs, maintaining measurement precision at levels comparable to tactical-grade systems while using affordable components.
3Productivity
If traditional GNSS-INS integration is used, then navigation solution is obtained, but error divergence occurs when GNSS signals are unavailable
Solution Approach 1:
The patent implements a dynamic estimation framework that adapts between GNSS-aided and SOP-aided INS modes. The system dynamically switches between using GNSS pseudoranges and SOP pseudoranges based on signal availability, maintaining stable error bounds through continuous adaptation rather than static integration architecture.
Data Source
AI summary
A signal of opportunity (SOP)-aided inertial navigation system (INS) framework provides various technical solutions to technical problems facing GNSS implementations. A mobile receiver, whether handheld or vehicle-mounted, has access to Global Navigation Satellite System (GNSS) signals, multiple unknown terrestrial SOPs, and IMU measurements, which are used to estimate receiver states. When GNSS signals become unreliable, the mobile receiver continues to navigate using the SOP-aided INS. The SOP-aided INS produces bounded estimation errors in the absence of GNSS signals, and the bounds are dependent on the quantity and quality of exploited SOPs.