%0 Journal Article
%T High-precision vehicle navigation in urban environments using an  MEM's IMU and single-frequency GPS receiver
%J IEEE transactions on intelligent transportation systems
%D 2016
%A Zhao, Sheng
%A Chen, Yiming
%A Farrell, Jay A.
%V 17
%N 10
%P 2854-2867
%X Many applications demand high-precision navigation in urban environments. Two frequency real-time kinematic (RTK) Global Positioning System (GPS) receivers are too expensive for low-cost or consumer-grade projects. As single-frequency GPS receivers are getting less expensive and more capable, more people are utilizing single-frequency RTK GPS techniques to achieve high accuracy in such applications. However, compared with dual-frequency receivers, it is much more difficult to resolve the integer ambiguity vector using single-frequency phase measurements and therefore more difficult to achieve reliable high-precision navigation. This paper presents a real-time sliding-window estimator that tightly integrates differential GPS and an inertial measurement unit to achieve reliable high-precision navigation performance in GPS-challenged urban environments using low-cost single-frequency GPS receivers. Moreover, this paper proposes a novel method to utilize the phase measurements, without resolving the integer ambiguity vector. Experimental results demonstrate real-time position estimation performance at the decimeter level. Furthermore, the novel use of phase measurements improves the robustness of the estimator to pseudorange multipath error.     Copyright © 2016, IEEE<p /> <p>Language: en</p>
%G en
%I IEEE (Institute of Electrical and Electronics Engineers)
%@ 1524-9050
%U http://dx.doi.org/10.1109/TITS.2016.2529000