AUTHORS: Xing-Li Sun, Wan-Tong Chen, Yan Han
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ABSTRACT: GPS vector receive make the tasks of signal tracking and navigation state estimation are integrated into an algorithm which can complement traditional scalar receiver tracking independent and parallel tracking disadvantage. Through integration with INS, the GPS signal in jamming or weak environment based on vector tracking ultra-tightly coupled GNSS/INS integration system has significant advantages. But vector tracking channels are closely linked, each channel signal tracking processes influence each other, if one or several channels are fault, which will induce the positioning error of the integration system and maybe make the normal channel tracking performance decrease or even instant lock. In this paper, we just performance the ultra-tightly coupled GPS/INS centralized architecture base on vector tracking, when a single channel or multiple channels fault occurs, make the integrated system positioning effect were analyzed theoretically，and through simulation and experiment verify the effects of quantitative, at the last, we design a fault-tolerant architecture and use robust H-infinity filter algorithm for Ultra-tightly coupled GPS/INS Integration.
KEYWORDS: vector tracking, ultra-tightly coupled GPS/INS integration, theoretical performance, GPS fault, fault-tolerant architecture, H-infinity filter
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