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

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.

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A dynamic localization network for regional navigation under global navigation satellite system denial environments

International Journal of Distributed Sensor Networks ◽

10.1177/1550147719834427 ◽

2019 ◽

Vol 15 (3) ◽

pp. 155014771983442

Author(s):

Hongwei Zhao ◽

Yue Yan ◽

Xiaozhu Shi

Keyword(s):

Global Navigation Satellite System ◽

Single Point ◽

Satellite System ◽

Navigation Satellite ◽

Positioning Accuracy ◽

Dynamic Localization ◽

Localization System ◽

Global Navigation ◽

Global Navigation Satellite ◽

Regional Augmentation

Global navigation satellite system signals are easily distorted by the interferences or disturbances, and global navigation satellite system receivers cannot offer continuous effective navigation results in challenging environments. As a representative regional augmentation technology, pseudolite has the potential to provide accurate positioning service to satisfy specific performance requirements in various applications. In this article, we developed a dynamic localization network based on pseudolite technology for regional augmentation navigation purpose. First, the collaborative positioning algorithm is given, and the architecture of localization system is proposed. Then the error sources of localization system are analyzed for performance evaluation. Finally, the proposed system is verified by experiments conducted in both static and kinenatic scenarios. The experiment results demonstrate that the positioning accuracy of the proposed localization system is nearly 10 m, which is close to the global navigation satellite system single-point positioning accuracy. Therefore, it can be used for emergency dynamic positioning of critical areas under the global navigation satellite system denial environments.

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Integrating Global Navigation Satellite System and Road-Marking Detection for Vehicle Localization in Urban Traffic

Transportation Research Record Journal of the Transportation Research Board ◽

10.3141/2595-07 ◽

2016 ◽

Vol 2595 (1) ◽

pp. 59-67 ◽

Cited By ~ 2

Author(s):

Yanlei Gu ◽

Li-Ta Hsu ◽

Jiali Bao ◽

Shunsuke Kamijo

Keyword(s):

Global Navigation Satellite System ◽

Satellite System ◽

Urban Traffic ◽

Navigation Satellite ◽

Vehicle Localization ◽

Global Navigation ◽

Global Navigation Satellite ◽

Road Marking

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Investigation of the Izmit Fault deformation using integration of Interferometric SAR with Global Navigation Satellite System (GNSS) positioning and geophysical seismic modelling

Geotectonic Research ◽

10.1127/1864-5658/2015-45 ◽

2015 ◽

Vol 97 (1) ◽

pp. 122-122

Author(s):

R Alac Barut ◽

J Trinder ◽

C Rizos

Keyword(s):

Global Navigation Satellite System ◽

Satellite System ◽

Navigation Satellite ◽

Seismic Modelling ◽

Gnss Positioning ◽

Fault Deformation ◽

Global Navigation ◽

Global Navigation Satellite ◽

Interferometric Sar

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

Remote Sensing ◽

10.3390/rs11030311 ◽

2019 ◽

Vol 11 (3) ◽

pp. 311 ◽

Cited By ~ 3

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.

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Lower Bounds on DOP

Journal of Navigation ◽

10.1017/s0373463317000248 ◽

2017 ◽

Vol 70 (5) ◽

pp. 1041-1061 ◽

Cited By ~ 3

Author(s):

Peter F. Swaszek ◽

Richard J. Hartnett ◽

Kelly C. Seals

Keyword(s):

Lower Bounds ◽

Global Navigation Satellite System ◽

Satellite System ◽

Navigation Satellite ◽

Satellite Constellations ◽

Dilution Of Precision ◽

Gnss Positioning ◽

Satellite Selection ◽

Global Navigation ◽

Global Navigation Satellite

Code phase Global Navigation Satellite System (GNSS) positioning performance is often described by the Geometric or Position Dilution of Precision (GDOP or PDOP), functions of the number of satellites employed in the solution and their geometry. This paper develops lower bounds to both metrics solely as functions of the number of satellites, effectively removing the added complexity caused by their locations in the sky, to allow users to assess how well their receivers are performing with respect to the best possible performance. Such bounds will be useful as receivers sub-select from the plethora of satellites available with multiple GNSS constellations. The bounds are initially developed for one constellation assuming that the satellites are at or above the horizon. Satellite constellations that essentially achieve the bounds are discussed, again with value toward the problem of satellite selection. The bounds are then extended to a non-zero mask angle and to multiple constellations.

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Analysis of Deep Space Navigation Feasibility Based on Inter-Satellite Link Antenna of Satellite Navigation System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.411-414.917 ◽

2013 ◽

Vol 411-414 ◽

pp. 917-921

Author(s):

Dong Hui Wang ◽

Wen Xiang Liu

Keyword(s):

Satellite System ◽

Geosynchronous Orbit ◽

Navigation Satellite ◽

Deep Space ◽

Positioning Accuracy ◽

Satellite Navigation System ◽

Space Navigation ◽

Simulation Results ◽

Global Navigation Satellite ◽

Navigation Method

There is no effectual navigation method to deep space aerocraft until now. Global Navigation Satellite System (GNSS) is a candidate. Its feasibility was analyzed according to the deep space geometry coverage characteristics. The antenna elevation was optimally designed to maximum the signal coverage performance in deep space. Simulation Results show that the best antenna elevation is 50-90 degrees. At the height of geosynchronous orbit, the average PDOP is 8.63, and at the height of lunar orbit, the positioning accuracy can only be achieved by km level.

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Integrity Monitoring of PPP-RTK Positioning; Part I: GNSS-Based IM Procedure

Remote Sensing ◽

10.3390/rs14010044 ◽

2021 ◽

Vol 14 (1) ◽

pp. 44

Author(s):

Kan Wang ◽

Ahmed El-Mowafy ◽

Weijin Qin ◽

Xuhai Yang

Keyword(s):

Road Transport ◽

Satellite System ◽

Convergence Time ◽

Transport Systems ◽

Navigation Satellite ◽

Integrity Monitoring ◽

Network Scale ◽

Positioning Method ◽

Multipath Environment ◽

Global Navigation Satellite

Nowadays, integrity monitoring (IM) is required for diverse safety-related applications using intelligent transport systems (ITS). To ensure high availability for road transport users for in-lane positioning, a sub-meter horizontal protection level (HPL) is expected, which normally requires a much higher horizontal positioning precision of, e.g., a few centimeters. Precise point positioning-real-time kinematic (PPP-RTK) is a positioning method that could achieve high accuracy without long convergence time and strong dependency on nearby infrastructure. As the first part of a series of papers, this contribution proposes an IM strategy for multi-constellation PPP-RTK positioning based on global navigation satellite system (GNSS) signals. It analytically studies the form of the variance-covariance (V-C) matrix of ionosphere interpolation errors for both accuracy and integrity purposes, which considers the processing noise, the ionosphere activities and the network scale. In addition, this contribution analyzes the impacts of diverse factors on the size and convergence of the HPLs, including the user multipath environment, the ionosphere activity, the network scale and the horizontal probability of misleading information (PMI). It is found that the user multipath environment generally has the largest influence on the size of the converged HPLs, while the ionosphere interpolation and the multipath environments have joint impacts on the convergence of the HPL. Making use of 1 Hz data of Global Positioning System (GPS)/Galileo/Beidou Navigation Satellite System (BDS) signals on L1 and L5 frequencies, for small- to mid-scaled networks, under nominal multipath environments and for a horizontal PMI down to , the ambiguity-float HPLs can converge to 1.5 m within or around 50 epochs under quiet to medium ionosphere activities. Under nominal multipath conditions for small- to mid-scaled networks, with the partial ambiguity resolution enabled, the HPLs can converge to 0.3 m within 10 epochs even under active ionosphere activities.

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Performance of Selected Ionospheric Models in Multi-Global Navigation Satellite System Single-Frequency Positioning over China

Remote Sensing ◽

10.3390/rs11172070 ◽

2019 ◽

Vol 11 (17) ◽

pp. 2070 ◽

Cited By ~ 7

Author(s):

Wang ◽

Chen ◽

Zhang ◽

Meng ◽

Wang

Keyword(s):

Global Navigation Satellite System ◽

Satellite System ◽

Ionospheric Delay ◽

Single Frequency ◽

Navigation Satellite ◽

Ionospheric Model ◽

Positioning Accuracy ◽

Grid Model ◽

Ionospheric Models ◽

Global Navigation Satellite

Ionospheric delay as the major error source needs to be properly handled in multi-GNSS (Global Navigation Satellite System) single-frequency positioning and the different ionospheric models exhibit apparent performance difference. In this study, two single-frequency positioning solutions with different ionospheric corrections are utilized to comprehensively analyze the ionospheric delay effects on multi-frequency and multi-constellation positioning performance, including standard point positioning (SPP) and ionosphere-constrained precise point positioning (PPP). The four ionospheric models studied are the GPS broadcast ionospheric model (GPS-Klo), the BDS (BeiDou Navigation Satellite System) broadcast ionospheric model (BDS-Klo), the BDS ionospheric grid model (BDS-Grid) and the Global Ionosphere Maps (GIM) model. Datasets are collected from 10 stations over one month in 2019. The solar remained calm and the ionosphere was stable during the test period. The experimental results show that for single-frequency SPP, the GIM model achieves the best accuracy, and the positioning accuracy of the BDS-Klo and BDS-Grid model is much better than the solution with GPS-Klo model in the N and U components. For the single-frequency PPP performance, the average convergence time of the ionosphere-constrained PPP is much reduced compared with the traditional PPP approach, where the improvements are of 11.2%, 11.9%, 21.3% and 39.6% in the GPS-Klo-, BDS-Klo-, BDS-Grid- and GIM-constrained GPS + GLONASS + BDS single-frequency PPP solutions, respectively. Furthermore, the positioning accuracy of the BDS-Grid- and GIM-constrained PPP is generally the same as the ionosphere-free combined single-frequency PPP. Through the combination of GPS, GLONASS and BDS, the positioning accuracy and convergence performance for all single-system single-frequency SPP/PPP solutions can be effectively improved.

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Optimal Fault Detection and Exclusion Applied in GNSS Positioning

Journal of Navigation ◽

10.1017/s0373463313000155 ◽

2013 ◽

Vol 66 (5) ◽

pp. 683-700 ◽

Cited By ~ 9

Author(s):

Ling Yang ◽

Nathan L. Knight ◽

Yong Li ◽

Chris Rizos

Keyword(s):

Fault Detection ◽

Global Navigation Satellite System ◽

Single Point ◽

Satellite System ◽

Navigation Satellite ◽

Gnss Positioning ◽

Practical Strategy ◽

Receiver Autonomous Integrity Monitoring ◽

Global Navigation Satellite ◽

Made In

In Global Navigation Satellite System (GNSS) positioning, it is standard practice to apply the Fault Detection and Exclusion (FDE) procedure iteratively, in order to exclude all faulty measurements and then ensure reliable positioning results. Since it is often only necessary to consider a single fault in a Receiver Autonomous Integrity Monitoring (RAIM) procedure, it would be ideal if a fault could be correctly identified. Thus, fault detection does not need to be applied in an iterative sense. One way of evaluating whether fault detection needs to be reapplied is to determine the probability of a wrong exclusion. To date, however, limited progress has been made in evaluating such probabilities. In this paper the relationships between different parameters are analysed in terms of the probability of correct and incorrect identification. Using this knowledge, a practical strategy for incorporating the probability of a wrong exclusion into the FDE procedure is developed. The theoretical findings are then demonstrated using a GPS single point positioning example.

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