An enhanced tightly-coupled integrated navigation approach using phase-derived position increment (PDPI) measurement

In comparison with the method using pseudorange and Doppler measurements, the PDPI-aided method improves performance of navigation system significantly. On one hand, since high-precise PDPI measurement is added in the new approach, accuracy of the integrated navigation system is improved. The results show horizontal position error is reduced by 56.9% and horizontal velocity error is reduced by 39.2%. Vertical velocity error is reduced by 81.0% and the heading error is reduced by 19.3%. On the other hand, the PDPI measurement in this new approach establishes the relationship between two successive epochs, which leads to a smoothing effect.