scholarly journals Vehicle Location Algorithm Based on Federated Learning and Smart Phone in GNSS Low Sampling Rate Scene

2021 ◽  
Vol 2066 (1) ◽  
pp. 012052
Author(s):  
Wenbiao Guo ◽  
Hang Li ◽  
Feng Yin ◽  
Bo Ai
Keyword(s):  
Learning Algorithm ◽  
Sampling Rate ◽  
Smart Phone ◽  
Satellite System ◽  
Signal Loss ◽  
User Privacy ◽  
Positioning Accuracy ◽  
Positioning Method ◽  
Vehicle Positioning ◽  
Global Navigation Satellite

Abstract In the existing vehicle positioning system based on Global Navigation Satellite System/Inertial Navigation System (GNSS/INS), when the GNSS signal is lost, the error accumulated by using only the INS will damage the positioning accuracy. In order to improve the accuracy, this paper proposed a positioning method based on data-driven and learning models, which utilized distributed data sets to collaboratively construct accurate positioning models through federated fusion algorithms without sacrificing user privacy. In the field scenarios of IID and Non-IID types, this paper compared the performance of INS and the existing two typical methods, DeepSense and PVAUA, it is verified that the two federated learning algorithm models constructed had higher positioning accuracy in different scenarios and different GNSS signal loss durations. The results were analyzed.

scholarly journals Accuracy Assessment of Atlas L-band GNSS Global Correction Service and Autonomous Positioning at Perlis, Malaysia

2021 ◽  
Vol 18 (2) ◽  
pp. 57
Author(s):  
Mohd Zainee Zainal ◽  
Wan Muhammad Syafiq Wan Mohd Suhaimi ◽  
Nurul Ain Mohd Zaki ◽  
Noorzalianee Noorzalianee Ghazali ◽  
Khairulazhar Zainuddin
Keyword(s):  
Precise Point Positioning ◽  
Accuracy Assessment ◽  
Satellite System ◽  
Maritime Industry ◽  
Signal Loss ◽  
Positioning Method ◽  
L Band ◽  
Global Navigation Satellite ◽  
Classification Table ◽  
Average Position

Differential Global Navigation Satellite System (DGNSS) is the most common positioning method used for navigation in the hydrography field. During the loss of the correction signal, the differential solution becomes an autonomous solution that may affect the accuracy of the position during that time. However, the availability of the Atlas L-band global correction service that adapts the Real-Time Precise Point Positioning (RT-PPP) technique has broadened the choice of solutions that can be used for navigation in the maritime industry and may solve the problem of signal loss. This research compares the positioning between autonomous solution GNSS and Atlas L-band correction solution using the static method to assess the accuracy of positioning between both methods. Data acquisition of the autonomous positioning and Atlas L-band service was conducted by using Hemisphere receiver VS330 and antenna A43. The statistical T-test reveals that the accuracy of analysis Atlas-L band and autonomous solution GNSS using static positioning was significant, as the p < 0.05 with 95% confidence interval. Besides, the result also shows that the position given by the Atlas L-band is more accurate and precise than Autonomous Solution GNSS, with an average position of 0.479 meters and 2.281 meters, respectively. Ultimately, the continuity of positioning data given by the Atlas L-band in the northern part of Malaysia is good, and positioning using Atlas L-band can be classified as Special Order based on the classification table by the International Hydrographic Organisation (IHO). Keywords: Atlas L-Band, GNSS, RT-PPP, Autonomous Positioning

Single-Difference Dynamic Positioning Method for GNSS-Acoustic Intelligent Buoys Systems

2019 ◽  
Vol 73 (3) ◽  
pp. 646-657
Author(s):  
Mingzhen Xin ◽  
Fanlin Yang ◽  
Hui Liu ◽  
Bo Shi ◽  
Kai Zhang ◽  
...  
Keyword(s):  
Systematic Error ◽  
Difference Method ◽  
Satellite System ◽  
Complex Nature ◽  
Dynamic Positioning ◽  
Positioning Accuracy ◽  
Positioning Method ◽  
Single Difference ◽  
Major Factors ◽  
Global Navigation Satellite

Systematic error is one of the major factors that affect positioning accuracy owing to the changeable and complex nature of seawater environments. Based on a Global Navigation Satellite System-acoustic intelligent buoys system, whose acoustic array consists of a series of surface buoys, a single-difference method for underwater dynamic positioning is proposed to eliminate systematic error. Positioning configuration optimisation was addressed using dilution of precision (DOP). A simulation of DOP proved that for the single-difference method, a radiation network with a centre-difference reference point was superior to a regular polygon network. The positioning experiment showed that the novel method could effectively eliminate systematic error, improving vertical positioning accuracy from a metre- to a decimetre scale.

Vehicle Localization Based on Global Navigation Satellite System Aided by Three-Dimensional Map

2017 ◽  
Vol 2621 (1) ◽  
pp. 55-61 ◽  
Author(s):  
Yanlei Gu ◽  
Li-Ta Hsu ◽  
Shunsuke Kamijo
Keyword(s):  
Inertial Sensors ◽  
Three Dimensional ◽  
Satellite System ◽  
Navigation Satellite ◽  
Positioning Accuracy ◽  
Vehicle Localization ◽  
Localization System ◽  
Gnss Positioning ◽  
Positioning Method ◽  
Global Navigation Satellite

Accurate vehicle localization technologies are significant for current onboard navigation systems and future autonomous vehicles. More specifically, positioning accuracy is expected at the submeter level. This paper presents an accurate vehicle self-localization system and evaluates the proposed system in different classes of urban environments. The developed system adopts an innovative global navigation satellite system (GNSS) positioning method as the key technique. The GNSS positioning method can improve the positioning error by reducing the effects of multipath interference and non-line-of-sight errors with the aid of a three-dimensional map. To improve positioning accuracy further, the vehicle localization system integrates the GNSS positioning technique with inertial sensors and vision sensors by considering the characteristics of each sensor. The inertial sensors represent vehicle movement with heading direction and vehicle speed. The vision sensor is used to recognize the position change relative to lane markings on the road surface. Those techniques and sensors collaborate to provide an accurate position in the global coordinate system. To verify the effectiveness and stability of the proposed system, a series of tests was conducted in one of the most challenging urban cities, Tokyo. The experiment results demonstrate that the proposed system can achieve submeter accuracy for the positioning error mean and has a 90% correct lane rate in the localization.

scholarly journals Opportunistic In-Flight INS Alignment Using LEO Satellites and a Rotatory IMU Platform

Aerospace ◽  
2021 ◽  
Vol 8 (10) ◽  
pp. 280
Author(s):  
Farzan Farhangian ◽  
Hamza Benzerrouk ◽  
Rene Landry
Keyword(s):  
Kalman Filter ◽  
State Space Model ◽  
Flight Test ◽  
Satellite System ◽  
Low Earth Orbit ◽  
Measurement Unit ◽  
Starting Point ◽  
Leo Satellites ◽  
Positioning Method ◽  
Global Navigation Satellite

With the emergence of numerous low Earth orbit (LEO) satellite constellations such as Iridium-Next, Globalstar, Orbcomm, Starlink, and OneWeb, the idea of considering their downlink signals as a source of pseudorange and pseudorange rate measurements has become incredibly attractive to the community. LEO satellites could be a reliable alternative for environments or situations in which the global navigation satellite system (GNSS) is blocked or inaccessible. In this article, we present a novel in-flight alignment method for a strapdown inertial navigation system (SINS) using Doppler shift measurements obtained from single or multi-constellation LEO satellites and a rotation technique applied on the inertial measurement unit (IMU). Firstly, a regular Doppler positioning algorithm based on the extended Kalman filter (EKF) calculates states of the receiver. This system is considered as a slave block. In parallel, a master INS estimates the position, velocity, and attitude of the system. Secondly, the linearized state space model of the INS errors is formulated. The alignment model accounts for obtaining the errors of the INS by a Kalman filter. The measurements of this system are the difference in the outputs from the master and slave systems. Thirdly, as the observability rank of the system is not sufficient for estimating all the parameters, a discrete dual-axis IMU rotation sequence was simulated. By increasing the observability rank of the system, all the states were estimated. Two experiments were performed with different overhead satellites and numbers of constellations: one for a ground vehicle and another for a small flight vehicle. Finally, the results showed a significant improvement compared to stand-alone INS and the regular Doppler positioning method. The error of the ground test reached around 26 m. This error for the flight test was demonstrated in different time intervals from the starting point of the trajectory. The proposed method showed a 180% accuracy improvement compared to the Doppler positioning method for up to 4.5 min after blocking the GNSS.

scholarly journals Multi-GNSS Combined Precise Point Positioning Using Additional Observations with Opposite Weight for Real-Time Quality Control

2019 ◽  
Vol 11 (3) ◽  
pp. 311 ◽  
Author(s):  
Wenju Fu ◽  
Guanwen Huang ◽  
Yuanxi Zhang ◽  
Qin Zhang ◽  
Bobin Cui ◽  
...  
Keyword(s):  
Quality Control ◽  
Real Time ◽  
Precise Point Positioning ◽  
Satellite System ◽  
Convergence Time ◽  
Navigation Satellite ◽  
Positioning Accuracy ◽  
Global Navigation ◽  
Point Positioning ◽  
Global Navigation Satellite

The emergence of multiple global navigation satellite systems (multi-GNSS), including global positioning system (GPS), global navigation satellite system (GLONASS), Beidou navigation satellite system (BDS), and Galileo, brings not only great opportunities for real-time precise point positioning (PPP), but also challenges in quality control because of inevitable data anomalies. This research aims at achieving the real-time quality control of the multi-GNSS combined PPP using additional observations with opposite weight. A robust multiple-system combined PPP estimation is developed to simultaneously process observations from all the four GNSS systems as well as single, dual, or triple systems. The experiment indicates that the proposed quality control can effectively eliminate the influence of outliers on the single GPS and the multiple-system combined PPP. The analysis on the positioning accuracy and the convergence time of the proposed robust PPP is conducted based on one week’s data from 32 globally distributed stations. The positioning root mean square (RMS) error of the quad-system combined PPP is 1.2 cm, 1.0 cm, and 3.0 cm in the east, north, and upward components, respectively, with the improvements of 62.5%, 63.0%, and 55.2% compared to those of single GPS. The average convergence time of the quad-system combined PPP in the horizontal and vertical components is 12.8 min and 12.2 min, respectively, while it is 26.5 min and 23.7 min when only using single-GPS PPP. The positioning performance of the GPS, GLONASS, and BDS (GRC) combination and the GPS, GLONASS, and Galileo (GRE) combination is comparable to the GPS, GLONASS, BDS and Galileo (GRCE) combination and it is better than that of the GPS, BDS, and Galileo (GCE) combination. Compared to GPS, the improvements of the positioning accuracy of the GPS and GLONASS (GR) combination, the GPS and Galileo (GE) combination, the GPS and BDS (GC) combination in the east component are 53.1%, 43.8%, and 40.6%, respectively, while they are 55.6%, 48.1%, and 40.7% in the north component, and 47.8%, 40.3%, and 34.3% in the upward component.

scholarly journals Investigating the Benefits of Vector-Based GNSS Receivers for Autonomous Vehicles under Challenging Navigation Environments

Signals ◽  
2020 ◽  
Vol 1 (2) ◽  
pp. 121-137
Author(s):  
Haidy Y. F. Elghamrawy ◽  
Mohamed Tamazin ◽  
Aboelmagd Noureldin
Keyword(s):  
Autonomous Vehicles ◽  
Tracking System ◽  
Satellite System ◽  
Velocity Estimation ◽  
Estimation Accuracy ◽  
Positioning Accuracy ◽  
Gps Receivers ◽  
Car Industry ◽  
Vector Tracking ◽  
Global Navigation Satellite

There is a growing demand for robust and accurate positioning information for various applications, including the self-driving car industry. Such applications rely mainly on the Global Navigation Satellite System (GNSS), including the Global Positioning System (GPS). However, GPS positioning accuracy relies on several factors, such as satellite geometry, receiver architecture, and navigation environment, to name a few. In urban canyons in which there is a significant probability of signal blockage of one or more satellites and/or interference, the positioning accuracy of scalar-based GPS receivers drastically deteriorates. On the other hand, vector-based GPS receivers exhibit some immunity to momentary outages and interference. Therefore, it is becoming necessary to consider vector-based GPS receivers for several applications, especially safety-critical applications, including next-generation navigation technologies for autonomous vehicles. This paper investigates a vector-based receiver’s performance and compares it to its scalar counterpart in signal degraded conditions. The realistic simulation experiments in this paper are conducted on GPS L1 C/A signals generated using the SpirentTM simulation system to create a fully controlled environment to examine and validate the performance. The results show that the vector tracking system outperforms the scalar tracking in terms of position and velocity estimation accuracy in signal-degraded environments.

scholarly journals Monitoring Aircraft Position Using EGNOS Data for the SBAS APV Approach to the Landing Procedure

Sensors ◽  
2020 ◽  
Vol 20 (7) ◽  
pp. 1945 ◽  
Author(s):  
Kamil Krasuski ◽  
Damian Wierzbicki
Keyword(s):  
Research Method ◽  
Satellite System ◽  
Civil Aviation ◽  
International Civil Aviation Organization ◽  
Positioning Accuracy ◽  
Research Findings ◽  
Global Navigation Satellite ◽  
Service Data ◽  
Computational Strategy ◽  
Better Than

The aim of this paper is to present the problem of the implementation of the EGNOS (European Geostationary Navigation Overlay Service) data for the processing of aircraft position determination. The main aim of the research is to develop a new computational strategy which might improve the performance of the EGNOS system in aviation, based on navigation solutions of an aircraft position, using several GNSS (Global Navigation Satellite System) onboard receivers. The results of an experimental test conducted by the Cessna 172 at EPDE (European Poland Deblin) (ICAO (International Civil Aviation Organization) code, N51°33.07’/E21°53.52’) aerodrome in Dęblin are presented and discussed in this paper. Two GNSS navigation receivers with the EGNOS positioning function for monitoring changes in the parameters of the aircraft position in real time during the landing phase were installed onboard a Cessna 172. Based on obtained research findings, it was discovered that the positioning accuracy was not higher than 2.1 m, and the integrity of positioning did not exceed 19 m. Moreover, the availability parameter was found to equal 1 (or 100%); also, no intervals in the continuity of the operation of the EGNOS system were recorded. In the paper, the results of the air test from Dęblin were compared with the parameters of positioning quality from the air test conducted in Chełm (ICAO code: EPCD, N51°04’57.8” E23°26’15”). In the air test in Chełm, the obtained parameters of EGNOS quality positioning were: better than 4.9 m for accuracy, less than 35.5 m for integrity, 100% for availability, and no breaks in continuity. Based on the results of the air tests in Dęblin and Chełm, it was concluded that the parameters of the EGNOS positioning quality in aviation for the SBAS (Satellite Based Augmentation System) APV (Approach to Vertical guidance) procedure were satisfied in accordance with the ICAO (International Civil Aviation Organization) requirements. The presented research method can be utilized in the SBAS APV landing procedure in Polish aviation. In this paper, the results of PDOP (Position Dilution of Precision) are presented and compared to the two air tests in Dęblin and Chełm. The maximum results of PDOP amounted to 1.4 in the air test in Dęblin, whereas they equaled 4.0 in the air test in Chełm. The paper also shows how the EGNOS system improved the aircraft position in relation to the only GPS solution. In this context, the EGNOS system improved the aircraft position from about 78% to 95% for each ellipsoidal coordinate axis.

Low-cost, high accuracy Global Navigation Satellite System positioning for understanding floods

2020 ◽  
Author(s):  
Hessel Winsemius ◽  
Andreas Krietemeyer ◽  
Kirsten Van Dongen ◽  
Ivan Gayton ◽  
Frank Annor ◽  
...  
Keyword(s):  
Global Navigation Satellite System ◽  
Low Cost ◽  
Smart Phone ◽  
Satellite System ◽  
Base Station ◽  
Navigation Satellite ◽  
Low Resource Settings ◽  
Low Resource ◽  
Global Navigation ◽  
Global Navigation Satellite

&lt;p&gt;Detailed elevation is a prerequisite for many hydrological applications. To name a few, understanding of urban and rural flood hazard and risk; understanding floodplain geometries and conveyance; and monitoring morphological changes. The accuracy of traditional Global Navigation Satellite System (GNSS) chipsets in smart phones is typically in the order of several meters, too low to be useful for such applications. Structure from Motion photogrammetry methods or Light Detection and Ranging (LIDAR), may be used to establish 3D point clouds from drone photos or lidar instrumentation, but even these require very accurate Ground Control Point (GCP) observations for a satisfactory result. These can be acquired through specialised GNSS rover equipment, combined with a multi-frequency GNSS base station or base station network, providing a Real-Time (RTK) or Post-Processing Kinematics (PPK) solution. These techniques are too expensive and too difficult to maintain for use within low resource settings and are usually deployed by experts or specialised firms.&lt;/p&gt;&lt;p&gt;Here we investigate if accurate positioning (horizontal and vertical) can be acquired using a very recently released low-cost multi-constellation dual-frequency receiver (ublox ZED-F9P), connected with a simple antenna and a smart phone. The setup is remarkably small and easy to carry into the field. Using a geodetic (high-grade) GNSS antenna and receiver as base station, initial results over baselines in the order of a few km with the low-cost receiver revealed a positioning performance in the centimeter domain. Currently, we are testing the solution using a smart phone setup as base station within Dar es Salaam, to improve elevation mapping within the community mapping project &amp;#8220;Ramani Huria&amp;#8221;. We will also test the equipment for use in GCP observations within the ZAMSECUR project in Zambia and TWIGA project in Ghana. This new technology opens doors to affordable and robust observations of positions and elevation in low resource settings.&lt;/p&gt;

The Research of Multipath and Linear Error for Pseudolites Applications

2011 ◽  
Vol 130-134 ◽  
pp. 2890-2893 ◽  
Author(s):  
Xiao Guang Wan ◽  
Xing Qun Zhan
Keyword(s):  
Carrier Phase ◽  
Indoor Environment ◽  
Phase Measurement ◽  
Satellite System ◽  
Independent System ◽  
Carrier Phase Measurement ◽  
Wide Range ◽  
Positioning Method ◽  
Global Navigation Satellite ◽  
Is Design

Pseudolites are ground-based transmitters that send global navigation satellite system like signals, such as GPS, GLONASS, or Galileo. As an independent system for indoor positioning, pseudolites technique can be explored for a wide range of positioning and navigation application where the signal of satellite GNSS can’t be received. However, with indoor environment, the positioning method of pseudolite navigation system is not entirely same as GNSS, and there are some challenging issues in research and system design. In this paper, a signal difference carrier phase measurement system with pseudolites is design. Furthermore, two major problems are studied that they are multipath error and linear errors.

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