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In urban environments, Global Navigation Satellite Systems (GNSS) signals are frequently attenuated, blocked or reflected, which degrades the positioning accuracy of GNSS receivers significantly. To improve the performance of GNSS receiver for vehicle urban navigation, a GNSS/INS deeply-coupled software defined receiver (GIDCSR) with a low cost micro-electro-mechanical system (MEMS) inertial measurement unit (IMU) ICM-20602 is presented, in which both GPS and BDS constellations are supported. Two key technologies, that is, adaptive open-close tracking loops and INS aided pseudo-range weight control algorithm, are applied in the GIDCSR to enhance the signal tracking continuity and positioning accuracy in urban areas. To assess the performance of the proposed deep couple solution, vehicle field tests were carried out in GNSS-challenged urban environments. With the adaptive open-close tracking loops, the deep couple output carrier phase in the open sky, and improved pseudo-range accuracy before and after GNSS signal blocked. Applying the INS aided pseudo-range weight control, the pseudo-range gross errors of the deep couple decreased caused by multipath. A popular GNSS/INS tightly-coupled vehicle navigation kit from u-blox company, M8U, was tested side by side as benchmark. The test results indicate that in the GNSS-challenged urban areas, the pseudo-range quality of GIDCSR is at least 25% better than that of M8U, and GIDCSR's horizontal positioning results are at least 69% more accurate than M8U's.

Implementation and Performance of a Deeply-Coupled GNSS Receiver with Low-Cost MEMS Inertial Sensors for Vehicle Urban Navigation