A GNSS RTK/INS Tight Coupling Method Under Challenging Scenarios

The Global Navigation Satellite System (GNSS) Real-Time Kinematic (RTK) positioning technology is a robust algorithm capable of providing centimeter-level accuracy in environments with favorable satellite visibility. However, in GNSS-Challenging environments such as urban canyons, where buildings and foliage may weaken GNSS signals, impede signal tracking by GNSS receivers, and exacerbate multi-path effects, RTK positioning can suffer performance degradation. The tight integration of Inertial Navigation Systems (INS) with RTK overcomes the limitations inherent when each system operates independently, delivering enhanced performance. This study realizes a tightly coupled RTK/INS algorithm. Performance tests and analyses were conducted on public vehicular datasets and one empirically measured static data set, which presents challenges in RTK algorithms. The results indicate that the tight integration algorithm improved the positioning accuracy of the empirically measured static data and the open dynamic data set. Researchers may access our datasets via the provided link.