Research on robot positioning algorithm based on dual frequency continuous wave

The update of the Android system and the emergence of the dual-frequency GNSS chips enable smartphones to acquire dual-frequency GNSS observations. In this paper, the GPS L1/L5 and Galileo E1/E5a dual-frequency PPP (precise point positioning) algorithm based on RTKLIB and GAMP was applied to analyze the positioning performance of the Xiaomi Mi 8 dual-frequency smartphone in static and kinematic modes. The results showed that in the static mode, the RMS position errors of the dual-frequency smartphone PPP solutions in the E, N, and U directions were 21.8 cm, 4.1 cm, and 11.0 cm, respectively, after convergence to 1 m within 102 min. The PPP of dual-frequency smartphone showed similar accuracy with geodetic receiver in single-frequency mode, while geodetic receiver in dual-frequency mode has higher accuracy. In the kinematic mode, the positioning track of the smartphone dual-frequency data had severe fluctuations, the positioning tracks derived from the smartphone and the geodetic receiver showed approximately difference of 3–5 m.

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Evaluation of precise point positioning algorithm based on original dual-frequency GPS code and carrier-phase observations

2011 International Conference on Electric Information and Control Engineering ◽

10.1109/iceice.2011.5778163 ◽

2011 ◽

Author(s):

Wei Yan ◽

Zishen Li ◽

Dehai Li ◽

Yunbin Yuan

Keyword(s):

Carrier Phase ◽

Precise Point Positioning ◽

Dual Frequency ◽

Point Positioning ◽

Positioning Algorithm

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The Application of the BSSD Iono-Free Linear Combination Method in the Processing of Aircraft Positioning

Journal of KONES ◽

10.2478/kones-2019-0052 ◽

2019 ◽

Vol 26 (3) ◽

pp. 15-21

Author(s):

Janusz Ćwiklak ◽

Marek Grzegorzewski ◽

Kamil Krasuski

Keyword(s):

Linear Combination ◽

Experimental Test ◽

Combination Method ◽

Dual Frequency ◽

Chi Square ◽

Internal Reliability ◽

Navigation Data ◽

Positioning Method ◽

Gps System ◽

Positioning Algorithm

Abstract The article presents the results of research into the use of the differentiation technique of BSSD (Between Satellite Single Difference) observations for the Iono-Free LC combination (Linear Combination) in the GPS system for the needs of aircraft positioning. Within the conducted investigations, a positioning algorithm for the BSSD Iono-Free LC positioning method was presented. In addition, an experimental test was conducted, in which raw observational data and GPS navigation data were exploited in order to recover the aircraft position. The examination was conducted for the Cessna 172 and the on-board dual-frequency receiver Topcon HiperPro. The experimental test presents the results of average errors of determining the position of the Cessna 172 in the XYZ geocentric frame and in the ellipsoidal BLh frame. Furthermore, the article presents the results of DOP (Dilution of Precision) coefficients, the test of the Chi square internal reliability test and the HPL and VPL confidence levels in GNSS precision approach (PA) in air transport. The calculations were performed in the original APS software (APS Aircraft Positioning Software) developed in the Department of Air Navigation of the Faculty of Aeronautics at the Polish Air Force University.

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A Parallel-Phase Demodulation-Based Distance-Measurement Method Using Dual-Frequency Modulation

Applied Sciences ◽

10.3390/app10010293 ◽

2019 ◽

Vol 10 (1) ◽

pp. 293

Author(s):

In-Gyu Jang ◽

Sung-Hyun Lee ◽

Yong-Hwa Park

Keyword(s):

Frequency Modulation ◽

Measurement Method ◽

Continuous Wave ◽

Measurement Range ◽

Distance Measurement ◽

Measurement Technology ◽

Dual Frequency ◽

Distance Measurements ◽

Time Required ◽

Phase Demodulation

Time-of-flight (ToF) measurement technology based on the amplitude-modulated continuous-wave (AMCW) model has emerged as a state-of-the-art distance-measurement method for various engineering applications. However, many of the ToF cameras employing the AMCW process phase demodulation sequentially, which requires time latency for a single distance measurement. This can result in significant distance errors, especially in non-static environments (e.g., robots and vehicles) such as those containing objects moving relatively to the sensors. To reduce the measurement time required for a distance measurement, this paper proposes a novel, parallel-phase demodulation method. The proposed method processes phase demodulation of signal in parallel rather than sequentially. Based on the parallel phase demodulation, 2π ambiguity problem is also solved in this work by adopting dual frequency modulation to increase the maximum range while maintaining the accuracy. The performance of proposed method was verified through distance measurements under various conditions. The improved distance measurement accuracy was demonstrated throughout an extended measurement range (1–10 m).

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