Performance Analysis of Global Navigation Satellite System Signal Acquisition Aided by Different Grade Inertial Navigation System under Highly Dynamic Conditions

Under the high dynamic conditions, Global Navigation Satellite System (GNSS) signals produce great Doppler frequency shifts, which hinders the fast acquisition of signals. Inertial Navigation System (INS)-aided acquisition can improve the acquisition performance, whereas the accuracy of Doppler shift and code phase estimation are mainly determined by the INS precision. The relation between the INS accuracy and Doppler shift estimation error has been derived, while the relation between the INS accuracy and code phase estimation error has not been deduced. In this paper, in order to theoretically analyze the effects of INS errors on the performance of Doppler shift and code phase estimations, the connections between them are re-deduced. Moreover, the curves of the corresponding relations are given for the first time. Then, in order to have a better verification of the INS-aided acquisition, a high dynamic scenario is designed. Furthermore, by using the deduced mathematical relation, the effects of different grade INS on the GNSS (including Global Positioning System (GPS) and BeiDou Navigation Satellite System (BDS)) signal acquisition are analyzed. Experimental results demonstrate that the INS-aided acquisition can reduce the search range of local frequency and code phase, and achieve fast acquisition. According to the experimental results, a suitable INS can be chosen for the deeply coupled integration