Performance Analysis of Real-Time GPS/Galileo Precise Point Positioning Integrated with Inertial Navigation System

The integration of global navigation satellite system (GNSS) precise point positioning (PPP) and inertial navigation system (INS) is widely used in navigation for its robustness and resilience, especially in case of GNSS signal blockage. With GNSS modernization, a variety of PPP models have been developed and studied, which has also led to various PPP/INS integration methods. In this study, we investigated the performance of a real-time GPS/Galileo zero-difference ionosphere-free (IF) PPP/INS integration with the application of uncombined bias products. This uncombined bias correction was independent of PPP modeling on the user side and also enabled carrier phase ambiguity resolution (AR). CNES (Centre National d'Etudes Spatiales) real-time orbit, clock, and uncombined bias products were used. Six positioning modes were evaluated, including PPP, PPP/INS loosely coupled integration (LCI), PPP/INS tightly coupled integration (TCI), and three of these with uncombined bias correction through a train positioning test in an open sky environment and two van positioning tests at a complex road and city center. All of the tests used a tactical-grade inertial measurement unit (IMU). In the train test, we found that ambiguity-float PPP had almost identical performance with LCI and TCI, which reached an accuracy of 8.5, 5.7, and 4.9 cm in the north (N), east (E) and up (U) direction, respectively. After AR, significant improvements on the east error component were achieved, which were 47%, 40%, and 38% for PPP-AR, PPP-AR/INS LCI, and PPP-AR/INS TCI, respectively. In the van tests, frequent signal interruptions due to bridges, vegetation, and city canyons make the IF AR difficult. TCI achieved the highest accuracies, which were 32, 29, and 41 cm for the N/E/U component, respectively, and also effectively eliminated the solution re-convergence in PPP.