Resilient system design of DGPS/INS Tightly Coupled Integration for maritime environment

Abstract

Reliability and high quality of integrity of PVT information which are the requirements of precise navigation field. However, the error due to the facilities near port area or satellite blockage make horizontal accuracy increase and therefore it could not satisfy the requirements. In this reason, this paper designed resilient system of DGPS/INS Tightly Coupled Integration for maritime environment. This system guarantee high horizontal accuracy more than existed GPS/INS integrated navigation system and have robust advantages by the side of loosely coupled integration which is affected by number of visible satellite. For integrity and reliability of navigation results, measurements were estimated or eliminated by SNR and elevation angle. To estimate the measurements for a short time period, PRC and code measurement's change value were used.