A robust single-antenna GNSS/MEMS fusion structure for reliable attitude determination in challenged environments
Abstract This study proposes an innovative single-antenna GNSS/MEMS integrated attitude determination system designed to address the challenges of low accuracy and poor robustness in urban complex environments, where conventional multi-antenna GNSS systems and standalone MEMS sensors often fail due...
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| Format: | Article |
| Language: | English |
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Nature Portfolio
2025-07-01
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| Series: | Scientific Reports |
| Online Access: | https://doi.org/10.1038/s41598-025-09365-5 |
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| author | Jiaji Wu Yuying Li Tianci Tang Wei Ding Xiaoliang Meng Jianghua Liu Jinguang Jiang |
| author_facet | Jiaji Wu Yuying Li Tianci Tang Wei Ding Xiaoliang Meng Jianghua Liu Jinguang Jiang |
| author_sort | Jiaji Wu |
| collection | DOAJ |
| description | Abstract This study proposes an innovative single-antenna GNSS/MEMS integrated attitude determination system designed to address the challenges of low accuracy and poor robustness in urban complex environments, where conventional multi-antenna GNSS systems and standalone MEMS sensors often fail due to signal obstructions and drift errors. The key innovations include: (1) a hybrid TDCP/TDPR (Time Difference Carrier Phase/Pseudo-Range) technique to enhance GNSS-derived pitch and heading estimation, significantly improving data utilization; (2) a multi-strategy quality control framework incorporating Zero Velocity Detection (ZVD), Magnetic Disturbance Detection (MDD), and Fault Detection and Exclusion (FDE) to suppress outlier contamination and ensure measurement reliability; and (3) an adaptive noise parameter tuning mechanism to optimize filter performance. Experimental results demonstrate that the proposed system outperforms conventional SPP/MEMS, standalone MEMS, and baseline GNSS/MEMS fusion methods, achieving CDF95 attitude errors of 1.2785° (roll), 0.9412° (pitch), and 1.1991° (yaw)—the highest accuracy and robustness reported for single-antenna GNSS/MEMS systems in urban scenarios. |
| format | Article |
| id | doaj-art-e504c3fb47a6455db1e435836efd5371 |
| institution | Kabale University |
| issn | 2045-2322 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | Nature Portfolio |
| record_format | Article |
| series | Scientific Reports |
| spelling | doaj-art-e504c3fb47a6455db1e435836efd53712025-08-20T03:45:59ZengNature PortfolioScientific Reports2045-23222025-07-0115111610.1038/s41598-025-09365-5A robust single-antenna GNSS/MEMS fusion structure for reliable attitude determination in challenged environmentsJiaji Wu0Yuying Li1Tianci Tang2Wei Ding3Xiaoliang Meng4Jianghua Liu5Jinguang Jiang6GNSS Research Center, Wuhan UniversityGNSS Research Center, Wuhan UniversitySchool of Remote Sensing and Information Engineering, Wuhan UniversitySchool of Geomatics, Liaoning Technical UniversitySchool of Remote Sensing and Information Engineering, Wuhan UniversitySchool of Electronics and Information Engineering, Hubei University of Science and TechnologyGNSS Research Center, Wuhan UniversityAbstract This study proposes an innovative single-antenna GNSS/MEMS integrated attitude determination system designed to address the challenges of low accuracy and poor robustness in urban complex environments, where conventional multi-antenna GNSS systems and standalone MEMS sensors often fail due to signal obstructions and drift errors. The key innovations include: (1) a hybrid TDCP/TDPR (Time Difference Carrier Phase/Pseudo-Range) technique to enhance GNSS-derived pitch and heading estimation, significantly improving data utilization; (2) a multi-strategy quality control framework incorporating Zero Velocity Detection (ZVD), Magnetic Disturbance Detection (MDD), and Fault Detection and Exclusion (FDE) to suppress outlier contamination and ensure measurement reliability; and (3) an adaptive noise parameter tuning mechanism to optimize filter performance. Experimental results demonstrate that the proposed system outperforms conventional SPP/MEMS, standalone MEMS, and baseline GNSS/MEMS fusion methods, achieving CDF95 attitude errors of 1.2785° (roll), 0.9412° (pitch), and 1.1991° (yaw)—the highest accuracy and robustness reported for single-antenna GNSS/MEMS systems in urban scenarios.https://doi.org/10.1038/s41598-025-09365-5 |
| spellingShingle | Jiaji Wu Yuying Li Tianci Tang Wei Ding Xiaoliang Meng Jianghua Liu Jinguang Jiang A robust single-antenna GNSS/MEMS fusion structure for reliable attitude determination in challenged environments Scientific Reports |
| title | A robust single-antenna GNSS/MEMS fusion structure for reliable attitude determination in challenged environments |
| title_full | A robust single-antenna GNSS/MEMS fusion structure for reliable attitude determination in challenged environments |
| title_fullStr | A robust single-antenna GNSS/MEMS fusion structure for reliable attitude determination in challenged environments |
| title_full_unstemmed | A robust single-antenna GNSS/MEMS fusion structure for reliable attitude determination in challenged environments |
| title_short | A robust single-antenna GNSS/MEMS fusion structure for reliable attitude determination in challenged environments |
| title_sort | robust single antenna gnss mems fusion structure for reliable attitude determination in challenged environments |
| url | https://doi.org/10.1038/s41598-025-09365-5 |
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