A tightly coupled inertial navigation system (INS) aided by ambient signals of opportunity (SOPs) is developed. In this system, a navigating vehicle aids its onboard INS using pseudoranges drawn from terrestrial SOPs with unknown emitter positions and clock biases through an extended Kalman filter-based radio simultaneous localization and mapping (SLAM) framework. The SOP-aided INS uses both global navigation satellite system (GNSS) and SOP pseudoranges during GNSS availability periods and switches to using SOP pseudoranges exclusively during GNSS unavailability periods. This framework is studied through numerical simulations by varying: 1) Quantity of exploited SOPs and 2) quality of SOP-equipped oscillators. It is demonstrated that the SOP-aided INS using a consumer-grade IMU produces smaller estimation uncertainties compared to a traditional tightly coupled GNSS-aided INS using a tactical-grade IMU. In the absence of GNSS signals, over the simulation finite-time horizon, the errors produced by the SOP-aided INS appear to be bounded, while the errors produced by a traditional tightly coupled GNSS-aided INS diverge unboundedly. Moreover, the article presents experimental results demonstrating an unmanned aerial vehicle using terrestrial cellular SOPs to aid its onboard consumer-grade IMU in the absence of GNSS signals. It is demonstrated that the final position error of a traditional tightly coupled GNSS-aided INS after 30 s of GNSS cutoff was 57.30 m, while the final position error of the tightly coupled SOP-aided INS was 9.59 m.

中文翻译：

---

带有机会辅助信号的紧耦合惯性导航系统

开发了一种由环境机会信号 (SOP) 辅助的紧耦合惯性导航系统 (INS)。在该系统中，导航车辆通过扩展的基于卡尔曼滤波器的无线电同步定位和映射 (SLAM) 框架，使用从具有未知发射器位置和时钟偏差的地面 SOP 中提取的伪距来辅助其机载 INS。SOP 辅助的 INS 在 GNSS 可用期间同时使用全球导航卫星系统 (GNSS) 和 SOP 伪距，并在 GNSS 不可用期间切换到专门使用 SOP 伪距。该框架是通过数值模拟通过以下变化来研究的：1) 所利用的 SOP 的数量和 2) 配备 SOP 的振荡器的质量。证明了 SOP 辅助的 INS 使用消费级 与使用传统的紧耦合 GNSS 辅助 INS 相比，IMU 产生更小的估计不确定性 战术级惯性测量装置。在没有 GNSS 信号的情况下，在模拟有限时间范围内，SOP 辅助 INS 产生的误差似乎是有界的，而传统紧耦合 GNSS 辅助 INS 产生的误差则是无限发散的。此外，本文还展示了一种实验结果，展示了无人机在没有 GNSS 信号的情况下使用地面蜂窝 SOP 来帮助其机载消费级 IMU。结果表明，传统紧耦合 GNSS 辅助 INS 在 GNSS 截止 30 s 后的最终位置误差为 57.30 m，而紧耦合 SOP 辅助 INS 的最终位置误差为 9.59 m。