Constant-round zero-knowledge proofs of knowledge with strict polynomial-time extractors for NP

Beidou or COMPASS is a Chinese GNSS (global navigation satellite system). Like the GPS receiver, the COMPASS receiver also faces the challenge of choosing an optimal bandwidth to satisfy both anti-jamming capability and dynamics adaptation simultaneously. GPS/INS (inertial navigation system) deep integrated navigation system has solved this problem by fusing GPS baseband signal and INS information in a deeply coupled mode. In this study, a COMPASS B3 frequency is considered and a traditional federated GPS/INS deep integration model is used to derive a single-filter-structure based COMPASS/INS deep integration model. Besides, a double-filter-structure based COMPASS/INS deep integration model is proposed. The simulation results show a better carrier tracking performance, especially a better dynamics adaptation. The impact of IMU errors and vehicle’s dynamics on carrier tracking performance of the double-filter-structure based COMPASS/INS deep integrated navigation system are evaluated in simulated and field environments. Simulation and field test results are in accordance with the theory analysis.