A MEMS-INS assisted GNSS vector tracking loop for robust navigation based on cubature Kalman Filter

The occlusion of shade leads to the intermittent reception of satellite signals, which subsequently results in a decline of the positioning accuracy of Global Navigation Satellite System (GNSS). In order to improve the accuracy of positioning and ensure the continuity of navigation results in weak signal environment, a cubature Kalman Filter (CKF)-based micro-electro mechanical-system (MEMS) grade inertial navigation system (INS) assisted GNSS vector tracking (VT) loop is proposed in this paper. Combining effective GNSS measurements and INS information, attitude, velocity, and position results are predicted by CKF, and the pseudo-range results from navigation filter are fed back into the VT loop. The field tests show that the proposed CKF-based MEMS-INS assisted GNSS VT loop can run continuously and stably in weak signal environment with higher navigation accuracy.