title: Deep Coupled Integration of CSAC and GNSS for Robust PNT.
abstract: Global navigation satellite systems (GNSS) are the most widely used positioning, navigation, and timing (PNT) technology. However, a GNSS cannot provide effective PNT services in physical blocks, such as in a natural canyon, canyon city, underground, underwater, and indoors. With the development of micro-electromechanical system (MEMS) technology, the chip scale atomic clock (CSAC) gradually matures, and performance is constantly improved. A deep coupled integration of CSAC and GNSS is explored in this thesis to enhance PNT robustness. "Clock coasting" of CSAC provides time synchronized with GNSS and optimizes navigation equations. However, errors of clock coasting increase over time and can be corrected by GNSS time, which is stable but noisy. In this paper, weighted linear optimal estimation algorithm is used for CSAC-aided GNSS, while Kalman filter is used for GNSS-corrected CSAC. Simulations of the model are conducted, and field tests are carried out. Dilution of precision can be improved by integration. Integration is more accurate than traditional GNSS. When only three satellites are visible, the integration still works, whereas the traditional method fails. The deep coupled integration of CSAC and GNSS can improve the accuracy, reliability, and availability of PNT.
authors.affiliation: Department of Precision Instrument, Tsinghua University, Beijing 100084, China. malin10@mails.tsinghua.edu.cn.|State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China. malin10@mails.tsinghua.edu.cn.
authors.forename: Lin
authors.initials: L
authors.lastname: Ma
authors.affiliation: Department of Precision Instrument, Tsinghua University, Beijing 100084, China. yz-dpi@mail.tsinghua.edu.cn.|State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China. yz-dpi@mail.tsinghua.edu.cn.
authors.forename: Zheng
authors.initials: Z
authors.lastname: You
authors.affiliation: Department of Precision Instrument, Tsinghua University, Beijing 100084, China. libin@mail.tsinghua.edu.cn.|State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China. libin@mail.tsinghua.edu.cn.
authors.forename: Bin
authors.initials: B
authors.lastname: Li
authors.affiliation: Department of Precision Instrument, Tsinghua University, Beijing 100084, China. zhoubin98@tsinghua.org.cn.|State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China. zhoubin98@tsinghua.org.cn.
authors.forename: Bin
authors.initials: B
authors.lastname: Zhou
authors.affiliation: Department of Precision Instrument, Tsinghua University, Beijing 100084, China. hanrunqi91@163.com.|State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China. hanrunqi91@163.com.
authors.forename: Runqi
authors.initials: R
authors.lastname: Han
keywords: CSAC; GNSS; Kalman filter; integration; weighted linear optimal estimation