scholarly journals The Design a TDCP-Smoothed GNSS/Odometer Integration Scheme with Vehicular-Motion Constraint and Robust Regression

2020 ◽  
Vol 12 (16) ◽  
pp. 2550
Author(s):  
Kai-Wei Chiang ◽  
Yu-Hua Li ◽  
Li-Ta Hsu ◽  
Feng-Yu Chu
Keyword(s):  
State Estimation ◽  
Navigation System ◽  
Robust Regression ◽  
Single Point ◽  
Dead Reckoning ◽  
Satellite System ◽  
Least Square ◽  
Integration Scheme ◽  
Intelligent Transport System ◽  
Global Navigation Satellite

Global navigation satellite system (GNSS) is widely regarded as the primary positioning solution for intelligent transport system (ITS) applications. However, its performance could degrade, due to signal outages and faulty-signal contamination, including multipath and non-line-of-sight reception. Considering the limitation of the performance and computation loads in mass-produced automotive products, this research investigates the methods for enhancing GNSS-based solutions without significantly increasing the cost for vehicular navigation system. In this study, the measurement technique of the odometer in modern vehicle designs is selected to integrate the GNSS information, without using an inertial navigation system. Three techniques are implemented to improve positioning accuracy; (a) Time-differenced carrier phase (TDCP) based filter: A state-augmented extended Kalman filter is designed to incorporate TDCP measurements for maximizing the effectiveness of phase-smoothing; (b) odometer-aided constraints: The aiding measurement from odometer utilizing forward speed with the lateral constraint enhances the state estimation; the information based on vehicular motion, comprising the zero-velocity constraint, fault detection and exclusion, and dead reckoning, maintains the stability of the positioning solution; (c) robust regression: A weighted-least-square based robust regression as a measurement-quality assessment is applied to adjust the weightings of the measurements adaptively. Experimental results in a GNSS-challenging environment indicate that, based on the single-point-positioning mode with an automotive-grade receiver, the combination of the proposed methods presented a root-mean-square error of 2.51 m, 3.63 m, 1.63 m, and 1.95 m for the horizontal, vertical, forward, and lateral directions, with improvements of 35.1%, 49.6%, 45.3%, and 21.1%, respectively. The statistical analysis exhibits 97.3% state estimation result in the horizontal direction for the percentage of epochs that had errors of less than 5 m, presenting that after the intervention of proposed methods, the positioning performance can fulfill the requirements for road level applications.

scholarly journals A Robust GNSS/PDR Integration Scheme with GRU-Based Zero-Velocity Detection for Mass-Pedestrians

2022 ◽  
Vol 14 (2) ◽  
pp. 300
Author(s):  
Dongpeng Xie ◽  
Jinguang Jiang ◽  
Jiaji Wu ◽  
Peihui Yan ◽  
Yanan Tang ◽  
...  
Keyword(s):  
Low Cost ◽  
Single Point ◽  
Dead Reckoning ◽  
Satellite System ◽  
Integration Scheme ◽  
Fusion Algorithm ◽  
Zero Velocity ◽  
Single Antenna ◽  
Other Information ◽  
Global Navigation Satellite

Aiming at the problem of high-precision positioning of mass-pedestrians with low-cost sensors, a robust single-antenna Global Navigation Satellite System (GNSS)/Pedestrian Dead Reckoning (PDR) integration scheme is proposed with Gate Recurrent Unit (GRU)-based zero-velocity detector. Based on the foot-mounted pedestrian navigation system, the error state extended Kalman filter (EKF) framework is used to fuse GNSS position, zero-velocity state, barometer elevation, and other information. The main algorithms include improved carrier phase smoothing pseudo-range GNSS single-point positioning, GRU-based zero-velocity detection, and adaptive fusion algorithm of GNSS and PDR. Finally, the scheme was tested. The root mean square error (RMSE) of the horizontal error in the open and complex environments is lower than 1 m and 1.5 m respectively. In the indoor elevation experiment where the elevation difference of upstairs and downstairs exceeds 25 m, the elevation error is lower than 1 m. This result can provide technical reference for the accurate and continuous acquisition of public pedestrian location information.

Aircraft positioning using GPS/GLONASS code observations

2019 ◽  
Vol 92 (2) ◽  
pp. 163-171 ◽  
Author(s):  
Kamil Krasuski ◽  
Janusz Cwiklak ◽  
Marek Grzegorzewski
Keyword(s):  
Global Navigation Satellite System ◽  
Single Point ◽  
Satellite System ◽  
Least Square ◽  
Navigation Satellite ◽  
Navigation Systems ◽  
Protection Level ◽  
Content Type ◽  
Global Navigation ◽  
Global Navigation Satellite

Purpose This paper aims to present the problem of the integration of the global positioning system (GPS)/global navigation satellite system (GLONASS) data for the processing of aircraft position determination. Design/methodology/approach The aircraft coordinates were obtained based on GPS and GLONASS code observations for the single point positioning (SPP) method. The numerical computations were executed in the aircraft positioning software (APS) package. The mathematical scheme of equation observation of the SPP method was solved using least square estimation in stochastic processing. In the research experiment, the raw global navigation satellite system data from the Topcon HiperPro onboard receiver were applied. Findings In the paper, the mean errors of an aircraft position from APS were under 3 m. In addition, the accuracy of aircraft positioning was better than 6 m. The integrity term for horizontal protection level and vertical protection level parameters in the flight test was below 16 m. Research limitations/implications The paper presents only the application of GPS/GLONASS observations in aviation, without satellite data from other navigation systems. Practical implications The presented research method can be used in an aircraft based augmentation system in Polish aviation. Social implications The paper is addressed to persons who work in aviation and air transport. Originality/value The paper presents the SPP method as a satellite technique for the recovery of an aircraft position in an aviation test.

scholarly journals Walker: Continuous and Precise Navigation by Fusing GNSS and MEMS in Smartphone Chipsets for Pedestrians

2019 ◽  
Vol 11 (2) ◽  
pp. 139 ◽  
Author(s):  
Feng Zhu ◽  
Xianlu Tao ◽  
Wanke Liu ◽  
Xiang Shi ◽  
Fuhong Wang ◽  
...  
Keyword(s):  
Carrier Phase ◽  
Signal To Noise Ratio ◽  
Single Point ◽  
Dead Reckoning ◽  
Smartphone Application ◽  
Satellite System ◽  
Portable Devices ◽  
Navigation Solution ◽  
Global Navigation Satellite ◽  
Gnss Observations

The continual miniaturization of mass-market sensors built in mobile intelligent terminals has inspired the development of accurate and continuous navigation solution for portable devices. With the release of Global Navigation Satellite System (GNSS) observations from the Android Nougat system, smartphones can provide pseudorange, Doppler, and carrier phase observations of GNSS. However, it is still a challenge to achieve the seamless positioning of consumer applications, especially in environments where GNSS signals suffer from a low signal-to-noise ratio and severe multipath. This paper introduces a dedicated android smartphone application called Walker that integrates the GNSS navigation solution and MEMS (micro-electromechanical systems) sensors to enable continuous and precise pedestrian navigation. Firstly, we introduce the generation of GNSS and MEMS observations, in addition to the architecture of Walker application. Then the core algorithm in Walker is given, including the time-differenced carrier phase improved GNSS single-point positioning and the integration of GNSS and Pedestrian Dead Reckoning (PDR). Finally, the Walker application is tested and the observations of GNSS and MEMS are assessed. The static experiment shows that, with GNSS observations, the RMS (root mean square) values of east, north, and up positioning error are 0.49 m, 0.37 m, and 1.01 m, respectively. Furthermore, the kinematic experiment verifies that the proposed method is capable of obtaining accuracy within 1–3 m for smooth and continuous navigation.

scholarly journals Lane Detection Aided Online Dead Reckoning for GNSS Denied Environments

Sensors ◽  
2021 ◽  
Vol 21 (20) ◽  
pp. 6805
Author(s):  
Jinhwan Jeon ◽  
Yoonjin Hwang ◽  
Yongseop Jeong ◽  
Sangdon Park ◽  
In So Kweon ◽  
...  
Keyword(s):  
Navigation System ◽  
Autonomous Vehicles ◽  
Computing Time ◽  
Dead Reckoning ◽  
Satellite System ◽  
Lane Detection ◽  
Urban Streets ◽  
Detection Model ◽  
Linearization Errors ◽  
Global Navigation Satellite

With the emerging interest of autonomous vehicles (AV), the performance and reliability of the land vehicle navigation are also becoming important. Generally, the navigation system for passenger car has been heavily relied on the existing Global Navigation Satellite System (GNSS) in recent decades. However, there are many cases in real world driving where the satellite signals are challenged; for example, urban streets with buildings, tunnels, or even underpasses. In this paper, we propose a novel method for simultaneous vehicle dead reckoning, based on the lane detection model in GNSS-denied situations. The proposed method fuses the Inertial Navigation System (INS) with learning-based lane detection model to estimate the global position of vehicle, and effectively bounds the error drift compared to standalone INS. The integration of INS and lane model is accomplished by UKF to minimize linearization errors and computing time. The proposed method is evaluated through the real-vehicle experiments on highway driving, and the comparative discussions for other dead-reckoning algorithms with the same system configuration are presented.

scholarly journals Many Ways Lead to the Goal—Possibilities of Autonomous and Infrastructure-Based Indoor Positioning

Electronics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 397
Author(s):  
Hossein Shoushtari ◽  
Thomas Willemsen ◽  
Harald Sternberg
Keyword(s):  
Mobile Networks ◽  
Dead Reckoning ◽  
Simulated Data ◽  
Minimum Cost ◽  
Cost Effective ◽  
Satellite System ◽  
Position Estimation ◽  
Robust Solution ◽  
Position Data ◽  
Global Navigation Satellite

There are many ways to navigate in Global Navigation Satellite System-(GNSS) shaded areas. Reliable indoor pedestrian navigation has been a central aim of technology researchers in recent years; however, there still exist open challenges requiring re-examination and evaluation. In this paper, a novel dataset is used to evaluate common approaches for autonomous and infrastructure-based positioning methods. The autonomous variant is the most cost-effective realization; however, realizations using the real test data demonstrate that the use of only autonomous solutions cannot always provide a robust solution. Therefore, correction through the use of infrastructure-based position estimation based on smartphone technology is discussed. This approach invokes the minimum cost when using existing infrastructure, whereby Pedestrian Dead Reckoning (PDR) forms the basis of the autonomous position estimation. Realizations with Particle Filters (PF) and a topological approach are presented and discussed. Floor plans and routing graphs are used, in this case, to support PDR positioning. The results show that the positioning model loses stability after a given period of time. Fifth Generation (5G) mobile networks can enable this feature, as well as a massive number of use-cases, which would benefit from user position data. Therefore, a fusion concept of PDR and 5G is presented, the benefit of which is demonstrated using the simulated data. Subsequently, the first implementation of PDR with 5G positioning using PF is carried out.

scholarly journals A Joint Dual-Frequency GNSS/SINS Deep-Coupled Navigation System for Polar Navigation

2018 ◽  
Vol 8 (11) ◽  
pp. 2322 ◽  
Author(s):  
Lin Zhao ◽  
Mouyan Wu ◽  
Jicheng Ding ◽  
Yingyao Kang
Keyword(s):  
Navigation System ◽  
Density Ratio ◽  
Satellite System ◽  
The Arctic ◽  
Observation Data ◽  
Dual Frequency ◽  
Vector Tracking ◽  
Time Observation ◽  
Global Navigation Satellite ◽  
Navigation Accuracy

The strategic position of the polar area and its rich natural resources are becoming increasingly important, while the northeast and northwest passages through the Arctic are receiving much attention as glaciers continue to melt. The global navigation satellite system (GNSS) can provide real-time observation data for the polar areas, but may suffer low elevation problems of satellites, signals with poor carrier-power-to-noise-density ratio (C/N0), ionospheric scintillations, and dynamic requirements. In order to improve the navigation performance in polar areas, a deep-coupled navigation system with dual-frequency GNSS and a grid strapdown inertial navigation system (SINS) is proposed in the paper. The coverage and visibility of the GNSS constellation in polar areas are briefly reviewed firstly. Then, the joint dual-frequency vector tracking architecture of GNSS is designed with the aid of grid SINS information, which can optimize the tracking band, sharing tracking information to aid weak signal channels with strong signal channels and meet the dynamic requirement to improve the accuracy and robustness of the system. Besides this, the ionosphere-free combination of global positioning system (GPS) L1 C/A and L2 signals is used in the proposed system to further reduce ionospheric influence. Finally, the performance of the system is tested using a hardware simulator and semiphysical experiments. Experimental results indicate that the proposed system can obtain a better navigation accuracy and robust performance in polar areas.

scholarly journals Constrained Unscented Particle Filter for SINS/GNSS/ADS Integrated Airship Navigation in the Presence of Wind Field Disturbance

Sensors ◽  
2019 ◽  
Vol 19 (3) ◽  
pp. 471 ◽  
Author(s):  
Zhaohui Gao ◽  
Dejun Mu ◽  
Yongmin Zhong ◽  
Chengfan Gu
Keyword(s):  
Wind Speed ◽  
Particle Filter ◽  
State Estimation ◽  
Wind Field ◽  
Satellite System ◽  
Integrated Navigation ◽  
Unscented Particle Filter ◽  
Field Disturbance ◽  
Global Navigation Satellite ◽  
Optimal State Estimation

Due to the disturbance of wind field, it is difficult to achieve precise airship positioning and navigation in the stratosphere. This paper presents a new constrained unscented particle filter (UPF) for SINS/GNSS/ADS (inertial navigation system/global navigation satellite system/atmosphere data system) integrated airship navigation. This approach constructs a wind speed model to describe the relationship between airship velocity and wind speed using the information output from ADS, and further establishes a mathematical model for SINS/GNSS/ADS integrated navigation. Based on these models, it also develops a constrained UPF to obtain system state estimation for SINS/GNSS/ADS integration. The proposed constrained UPF uses the wind speed model to constrain the UPF filtering process to effectively resist the influence of wind field on the navigation solution. Simulations and comparison analysis demonstrate that the proposed approach can achieve optimal state estimation for SINS/GNSS/ADS integrated airship navigation in the presence of wind field disturbance.

scholarly journals Code Single Point Positioning Using Nominal Gnss Constellations (Future Perception)

2007 ◽  
Vol 42 (3) ◽  
pp. 149-153
Author(s):  
A. Farah
Keyword(s):  
Single Point ◽  
Satellite System ◽  
Global Navigation Satellite Systems ◽  
Navigation Satellite ◽  
Satellite Systems ◽  
Performance Improvements ◽  
Single Point Positioning ◽  
Global Navigation ◽  
Point Positioning ◽  
Global Navigation Satellite

Code Single Point Positioning Using Nominal Gnss Constellations (Future Perception) Global Navigation Satellite Systems (GNSS) have an endless number of applications in industry, science, military, transportation and recreation & sports. Two systems are currently in operation namely GPS (the USA Global Positioning System) and GLONASS (the Russian GLObal NAvigation Satellite System), and a third is planned, the European satellite navigation system GALILEO. The potential performance improvements achievable through combining these systems could be significant and expectations are high. The need is inevitable to explore the future of positioning from different nominal constellations. In this research paper, Bernese 5.0 software could be modified to simulate and process GNSS observations from three different constellations (GPS, Glonass and Galileo) using different combinations. This study presents results of code single point positioning for five stations using the three constellations and different combinations.

scholarly journals Improved Ultra-Rapid UT1-UTC Determination and Its Preliminary Impact on GNSS Satellite Ultra-Rapid Orbit Determination

2020 ◽  
Vol 12 (21) ◽  
pp. 3584
Author(s):  
Fei Ye ◽  
Yunbin Yuan ◽  
Zhiguo Deng
Keyword(s):  
Piecewise Linear ◽  
Satellite System ◽  
Assessment System ◽  
Least Square ◽  
Linear Functions ◽  
Observation Data ◽  
Combination Model ◽  
New Strategy ◽  
Global Navigation Satellite ◽  
Traditional Strategy

Errors in ultra-rapid UT1-UTC primarily affect the overall rotation of spatial datum expressed by GNSS (Global Navigation Satellite System) satellite ultra-rapid orbit. In terms of existing errors of traditional strategy, e.g., piecewise linear functions, for ultra-rapid UT1-UTC determination, and the requirement to improve the accuracy and consistency of ultra-rapid UT1-UTC, the potential to improve the performance of ultra-rapid UT1-UTC determination based on an LS (Least Square) + AR (Autoregressive) combination model is explored. In this contribution, based on the LS+AR combination model and by making joint post-processing/rapid UT1-UTC observation data, we propose a new strategy for ultra-rapid UT1-UTC determination. The performance of the new strategy is subsequently evaluated using data provided by IGS (International GNSS Services), iGMAS (international GNSS Monitoring and Assessment System), and IERS (International Earth Rotation and Reference Systems Service). Compared to the traditional strategy, the numerical results over more than 1 month show that the new strategy improved ultra-rapid UT1-UTC determination by 29–43%. The new strategy can provide a reference for GNSS data processing to improve the performance of ultra-rapid products.

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