title: Coupled Integration of CSAC, MIMU, and GNSS for Improved PNT Performance.
abstract: Positioning, navigation, and timing (PNT) is a strategic key technology widely used in military and civilian applications. Global navigation satellite systems (GNSS) are the most important PNT techniques. However, the vulnerability of GNSS threatens PNT service quality, and integrations with other information are necessary. A chip scale atomic clock (CSAC) provides high-precision frequency and high-accuracy time information in a short time. A micro inertial measurement unit (MIMU) provides a strap-down inertial navigation system (SINS) with rich navigation information, better real-time feed, anti-jamming, and error accumulation. This study explores the coupled integration of CSAC, MIMU, and GNSS to enhance PNT performance. The architecture of coupled integration is designed and degraded when any subsystem fails. A mathematical model for a precise time aiding navigation filter is derived rigorously. The CSAC aids positioning by weighted linear optimization when the visible satellite number is four or larger. By contrast, CSAC converts the GNSS observations to range measurements by "clock coasting" when the visible satellite number is less than four, thereby constraining the error divergence of micro inertial navigation and improving the availability of GNSS signals and the positioning accuracy of the integration. Field vehicle experiments, both in open-sky area and in a harsh environment, show that the integration can improve the positioning probability and accuracy.
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. liuty14@mails.tsinghua.edu.cn.|State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China. liuty14@mails.tsinghua.edu.cn.
authors.forename: Tianyi
authors.initials: T
authors.lastname: Liu
authors.affiliation: Department of Precision Instrument, Tsinghua University, Beijing 100084, China. shi-s11@mails.tsinghua.edu.cn.|State Key Laboratory of Precision Measurement Technology and Instruments, Tsinghua University, Beijing 100084, China. shi-s11@mails.tsinghua.edu.cn.
authors.forename: Shuai
authors.initials: S
authors.lastname: Shi
keywords: CSAC; GNSS; Kalman filter; MIMU; integration; precise time aiding