scholarly journals An Indoor DFEC Ranging Method for Homologous Base Station Based on GPS L1 and BeiDou B1 Signals

Sensors ◽  
2020 ◽  
Vol 20 (8) ◽  
pp. 2225
Author(s):  
Heng Zhang ◽  
Shuguo Pan ◽  
Chuanzhen Sheng ◽  
Xingli Gan ◽  
Baoguo Yu ◽  
...  
Keyword(s):  
Phase Relationship ◽  
Typical Feature ◽  
Base Station ◽  
Observation Data ◽  
Dual Frequency ◽  
Positioning Accuracy ◽  
True Value ◽  
Wireless Environment ◽  
Spatial Noise ◽  
Characteristic Points

High-precision navigation and positioning technology for indoor areas has become one of the research hotspots in the current navigation field. However, due to the complexity of the indoor environment, this technology direction is also one of the research difficulties. At present, our common indoor positioning methods are WIFI, Bluetooth, LED, ultrasound and pseudo satellite. However, due to the problem of inaccurate direct or indirect ranging, the positioning accuracy is usually affected, which makes the final application difficult to achieve. In order to avoid the ranging limitations of the existing methods, a new dual-frequency entanglement constraint (DFEC) ranging method based on homologous base station is proposed in this paper. The relationship between the homologous characteristics of dual-frequency signals and the phase relationship within the cycle is used to estimate the current carrier phase adjustment the true value of the cycle count is used to get rid of the constraints of the ranging conditions and improve the ranging accuracy. In order to verify the feasibility of this method, the wired environment test and the typical characteristic points of wireless environment are tested and analyzed respectively. The analysis results show that in the wired environment, the transmitting base station and the receiving terminal will introduce a ranging error of one wavelength; in the wireless environment, due to the influence of spatial noise and multipath, the error of the estimation of the whole cycles of the ranging value increases significantly. And this phenomenon is most obvious especially in the region where the signal is shaded, but the error estimate that satisfies ± 1 wavelength still accounts for 90%. Based on this, we conduct multiple observation data collection at five typical feature points, and used existing MATLAB positioning algorithms to conduct positioning error tests. The analysis found that under this error condition, the positioning accuracy was about 0.6 m, and 93% of the points met the 1-m positioning accuracy.

scholarly journals A New Asynchronous RTK Method to Mitigate Base Station Observation Outages

Sensors ◽  
2019 ◽  
Vol 19 (15) ◽  
pp. 3376 ◽  
Author(s):  
Yuan Du ◽  
Guanwen Huang ◽  
Qin Zhang ◽  
Yang Gao ◽  
Yuting Gao
Keyword(s):  
Real Time ◽  
Base Station ◽  
Global Navigation Satellite Systems ◽  
Observation Data ◽  
Post Processing ◽  
Positioning Accuracy ◽  
Real Time Processing ◽  
Phase Measurements ◽  
Satellite Systems ◽  
Precise Ephemeris

Real-time kinematic (RTK) positioning is a satellite navigation technique that is widely used to enhance the precision of position data obtained from global navigation satellite systems (GNSS). This technique can reduce or eliminate significant correlation errors via the enhancement of the base station observation data. However, observations received by the base station are often interrupted, delayed, and/or discontinuous, and in the absence of base station observation data the corresponding positioning accuracy of a rover declines rapidly. With the strategies proposed till date, the positioning accuracy can only be maintained at the centimeter-level for a short span of time, no more than three min. To address this, a novel asynchronous RTK method (that addresses asynchronous errors) that can bridge significant gaps in the observations at the base station is proposed. First, satellite clock and orbital errors are eliminated using the products of the final precise ephemeris during post-processing or the ultra-rapid precise ephemeris during real-time processing. Then the tropospheric error is corrected using the Saastamoinen model and the asynchronous ionospheric delay is corrected using the carrier phase measurements from the rover receiver. Finally, a straightforward first-degree polynomial function is used to predict the residual asynchronous error. Experimental results demonstrate that the proposed approach can achieve centimeter-level accuracy for as long as 15 min during interruptions in both real-time and post-processing scenarios, and that the accuracy of the real-time scheme can be maintained for 15 min even when a large systematic error is projected in the U direction.

scholarly journals BDS-3 Time Group Delay and Its Effect on Standard Point Positioning

2019 ◽  
Vol 11 (15) ◽  
pp. 1819 ◽  
Author(s):  
Peipei Dai ◽  
Yulong Ge ◽  
Weijin Qin ◽  
Xuhai Yang
Keyword(s):  
Navigation System ◽  
Group Delay ◽  
Vertical Component ◽  
Horizontal Component ◽  
Assessment System ◽  
Observation Data ◽  
Signal Design ◽  
Dual Frequency ◽  
Positioning Accuracy ◽  
Point Positioning

The development of the BeiDou navigation system (BDS) is divided into three phases: The demonstration system (BDS-1), the regional system (BDS-2) and the global BeiDou navigation system (BDS-3). At present, the construction of the global BeiDou navigation system (BDS-3) constellation network is progressing very smoothly. The signal design and functionality of BDS-3 are different from those of BDS-1 and BDS-2. The BDS-3 satellite not only broadcasts B1I (1561.098 MHz) and B3I (1268.52 MHz) signals but also broadcasts new signals B1C (1575.42 MHz) and B2a (1176.45 MHz). In this work, six tracking stations of the international GNSS monitoring and assessment system (iGMAS) were selected, and 41 consecutive days of observation data, were collected. To fully exploit the code observations of BDS-2 and BDS-3, the time group delay (TGD) correction model of BDS-2 and BDS-3 are described in detail. To further verify the efficacy of the broadcast TGD parameters in the broadcast ephemeris, the standard point positioning (SPP) of all the signals from BDS-2 and BDS-3 with and without TGD correction was studied. The experiments showed that the B1I SPP accuracy of BDS-2 was increased by approximately 50% in both the horizontal and vertical components, and B1I/B3I were improved by approximately 70% in the horizontal component and 47.4% in the vertical component with TGD correction. The root mean square (RMS) value of B1I and B1C from BDS-3 with TGD correction was enhanced by approximately 60%–70% in the horizontal component and by approximately 50% in the vertical component. The B2a-based SPP was increased by 60.2% and 64.4% in the east and north components, respectively, and the up component was increased by approximately 19.8%. For the B1I/B3I and B1C/B2a dual-frequency positioning accuracy with TGD correction, the improvement in the horizontal component ranges from 62.1% to 75.0%, and the vertical component was improved by approximately 45%. Furthermore, the positioning accuracy of the BDS-2 + BDS-3 combination constellation was obviously higher than that of BDS-2 or BDS-3.

scholarly journals Assessment of Static Positioning Accuracy Using Low-Cost Smartphone GPS Devices for Geodetic Survey Points’ Determination and Monitoring

2020 ◽  
Vol 10 (15) ◽  
pp. 5308 ◽  
Author(s):  
Marcin Uradziński ◽  
Mieczysław Bakuła
Keyword(s):  
Mobile Phones ◽  
Carrier Phase ◽  
Low Cost ◽  
Satellite System ◽  
Base Station ◽  
Dual Frequency ◽  
Post Processing ◽  
Positioning Accuracy ◽  
Static Mode ◽  
Ambiguity Fixing

Recent developments enable to access raw Global Navigation Satellite System (GNSS) measurements of mobile phones. Initially, researchers using signals gathered by mobile phones for high accuracy surveying were not successful in ambiguity fixing. Nowadays, GNSS chips, which are built in the latest smartphones, deliver code and primarily carrier phase observations available for detailed analysis in post-processing applications. Therefore, we decided to check the performance of carrier phase ambiguity fixing and positioning accuracy results of the latest Huawei P30 pro smartphone equipped with a dual-frequency GNSS receiver. We collected 3 h of raw static data in separate sessions at a known point location. For two sessions, the mobile phone was mounted vertically and for the third one—horizontally. At the same time, a high-class geodetic receiver was used for L1 and L5 signal comparison purposes. The carrier phase measurements were processed using commercial post-processing software with reference to the closest base station observations located 4 km away. Additionally, 1 h sessions were divided into 10, 15, 20 and 30 min separate sub-sessions to check the accuracy of the surveying results in fast static mode. According to the post-processing results, we were able to fix all L1 ambiguities based on Global Positioning System (GPS)-only satellite constellation. In comparison to the fixed reference point position, all three 1 h static session results were at centimeters level of accuracy (1–4 cm). For fast static surveying mode, the best results were obtained for 20 and 30 min sessions, where average accuracy was also at centimeters level.

scholarly journals Pseudorange Bias Analysis and Preliminary Service Performance Evaluation of BDSBAS

2021 ◽  
Vol 13 (23) ◽  
pp. 4815
Author(s):  
Yuchen Liu ◽  
Yueling Cao ◽  
Chengpan Tang ◽  
Jinping Chen ◽  
Liqian Zhao ◽  
...  
Keyword(s):  
Service Performance ◽  
Civil Aviation ◽  
Single Frequency ◽  
Service Availability ◽  
Observation Data ◽  
Navigation Systems ◽  
Dual Frequency ◽  
Positioning Accuracy ◽  
Integrity Risk ◽  
Ionospheric Grid

To satisfy the demands of civil aviation organizations and other users of satellite navigation systems for high-precision and high-integrity service performance, many countries and regions have established satellite-based augmentation systems (SBAS) referring to the Radio Technical Commission for Aeronautics (RTCA) service standards and agreements. The BeiDou SBAS (BDSBAS) provides both single-frequency service, which augments Global Positioning System (GPS) L1 C/A signal, and dual-frequency multi-constellation (DFMC) service, which augments BeiDou Navigation Satellite System (BDS) B1C and B2a dual frequency signals presently, meeting the requirements of the RTCA DO-229D protocol and the SBAS L5 DFMC protocol requirements, respectively. As one of the main error sources, the pseudorange bias errors of BDSBAS monitoring receivers were estimated and their effect on the performance of the BDSBAS service was analyzed. Based on the user algorithms of SBAS differential corrections and integrity information, the service accuracy, integrity, and availability of the BDSBAS were evaluated using real observation data. The results show that the maximum of monitoring receiver pseudorange bias errors between L1P and L1P/L2P can reach 1.57 m, which become the most important errors affecting the performance of the BDSBAS service. In addition, the results show that the pseudorange bias of GPS BlockIII is the smallest, while that of GPS BlockIIR is the largest. Compared with the positioning accuracy of the open service of the core constellation, the positioning accuracy of the BDSBAS service can be improved by approximately 47% and 36% for the RTCA service and DFMC service, respectively. For RTCA services, the protection limit (PL) calculated with the integrity information can 100% envelop the positioning error (PE) and no integrity risk event is detected. The service availability of BDSBAS for APV-I approach is approximately 98.8%, which is mainly affected by the availability of ionospheric grid corrections in the service marginal area. For DFMC service, the integrity risk is not detected either. The service availability for CAT-I approach is 100%. Improving the availability of ionospheric grid corrections is one of the important factors to improve service performance of BDSBAS RTCA service.

scholarly journals Characterization of Carrier Phase-Based Positioning in Real-World Jamming Conditions

2021 ◽  
Vol 13 (14) ◽  
pp. 2680
Author(s):  
Søren Skaarup Larsen ◽  
Anna B. O. Jensen ◽  
Daniel H. Olesen
Keyword(s):  
Real World ◽  
Carrier Phase ◽  
Reference Station ◽  
Baseline Length ◽  
Dual Frequency ◽  
Positioning Accuracy ◽  
The Impact ◽  
Single Versus ◽  
Selection Of

GNSS signals arriving at receivers at the surface of the Earth are weak and easily susceptible to interference and jamming. In this paper, the impact of jamming on the reference station in carrier phase-based relative baseline solutions is examined. Several scenarios are investigated in order to assess the robustness of carrier phase-based positioning towards jamming. Among others, these scenarios include a varying baseline length, the use of single- versus dual-frequency observations, and the inclusion of the Galileo and GLONASS constellations to a GPS only solution. The investigations are based on observations recorded at physical reference stations in the Danish TAPAS network during actual jamming incidents, in order to realistically evaluate the impact of real-world jamming on carrier phase-based positioning accuracy. The analyses performed show that, while there are benefits of using observations from several frequencies and constellations in positioning solutions, special care must be taken in solution processing. The selection of which GNSS constellations and observations to include, as well as when they are included, is essential, as blindly adding more jamming-affected observations may lead to worse positioning accuracy.

scholarly journals Accuracy Analysis of International Reference Ionosphere 2016 and NeQuick2 in the Antarctic

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1551
Author(s):  
Zihuai Guo ◽  
Yibin Yao ◽  
Jian Kong ◽  
Gang Chen ◽  
Chen Zhou ◽  
...  
Keyword(s):  
Solar Radiation ◽  
International Reference Ionosphere ◽  
Electron Content ◽  
Observation Data ◽  
Dual Frequency ◽  
Total Electron ◽  
International Reference ◽  
Antarctic Continent ◽  
The Antarctic ◽  
Frequency Observation

Global navigation satellite system (GNSS) can provide dual-frequency observation data, which can be used to effectively calculate total electron content (TEC). Numerical studies have utilized GNSS-derived TEC to evaluate the accuracy of ionospheric empirical models, such as the International Reference Ionosphere model (IRI) and the NeQuick model. However, most studies have evaluated vertical TEC rather than slant TEC (STEC), which resulted in the introduction of projection error. Furthermore, since there are few GNSS observation stations available in the Antarctic region and most are concentrated in the Antarctic continent edge, it is difficult to evaluate modeling accuracy within the entire Antarctic range. Considering these problems, in this study, GNSS STEC was calculated using dual-frequency observation data from stations that almost covered the Antarctic continent. By comparison with GNSS STEC, the accuracy of IRI-2016 and NeQuick2 at different latitudes and different solar radiation was evaluated during 2016–2017. The numerical results showed the following. (1) Both IRI-2016 and NeQuick2 underestimated the STEC. Since IRI-2016 utilizes new models to represent the F2-peak height (hmF2) directly, the IRI-2016 STEC is closer to GNSS STEC than NeQuick2. This conclusion was also confirmed by the Constellation Observing System for Meteorology Ionosphere and Climate (COSMIC) occultation data. (2) The differences in STEC of the two models are both normally distributed, and the NeQuick2 STEC is systematically biased as solar radiation increases. (3) The root mean square error (RMSE) of the IRI-2016 STEC is smaller than that of the NeQuick2 model, and the RMSE of the two modeling STEC increases with solar radiation intensity. Since IRI-2016 relies on new hmF2 models, it is more stable than NeQuick2.

scholarly journals Modeling and Performance Evaluation of Precise Positioning and Time-Frequency Transfer with Galileo Five-Frequency Observations

2021 ◽  
Vol 13 (15) ◽  
pp. 2972
Author(s):  
Wei Xu ◽  
Wen-Bin Shen ◽  
Cheng-Hui Cai ◽  
Li-Hong Li ◽  
Lei Wang ◽  
...  
Keyword(s):  
Three Dimensional ◽  
Satellite Orbit ◽  
Average Frequency ◽  
Satellite System ◽  
Observation Data ◽  
Navigation Satellite ◽  
Dual Frequency ◽  
Time Frequency ◽  
Combination Model ◽  
Frequency Transfer

The present Global Navigation Satellite System (GNSS) can provide at least double-frequency observations, and especially the Galileo Navigation Satellite System (Galileo) can provide five-frequency observations for all constellation satellites. In this contribution, precision point positioning (PPP) models with Galileo E1, E5a, E5b, E5 and E6 frequency observations are established, including a dual-frequency (DF) ionospheric-free (IF) combination model, triple-frequency (TF) IF combination model, quad-frequency (QF) IF combination model, four five-frequency (FF) IF com-bination models and an FF uncombined (UC) model. The observation data of five stations for seven days are selected from the multi-GNSS experiment (MGEX) network, forming four time-frequency links ranging from 454.6 km to 5991.2 km. The positioning and time-frequency transfer performances of Galileo multi-frequency PPP are compared and evaluated using GBM (which denotes precise satellite orbit and clock bias products provided by Geo Forschung Zentrum (GFZ)), WUM (which denotes precise satellite orbit and clock bias products provided by Wuhan University (WHU)) and GRG (which denotes precise satellite orbit and clock bias products provided by the Centre National d’Etudes Spatiales (CNES)) precise products. The results show that the performances of the DF, TF, QF and FF PPP models are basically the same, the frequency stabilities of most links can reach sub10−16 level at 120,000 s, and the average three-dimensional (3D) root mean square (RMS) of position and average frequency stability (120,000 s) can reach 1.82 cm and 1.18 × 10−15, respectively. The differences of 3D RMS among all models are within 0.17 cm, and the differences in frequency stabilities (in 120,000 s) among all models are within 0.08 × 10−15. Using the GRG precise product, the solution performance is slightly better than that of the GBM or WUM precise product, the average 3D RMS values obtained using the WUM and GRG precise products are 1.85 cm and 1.77 cm, respectively, and the average frequency stabilities at 120,000 s can reach 1.13 × 10−15 and 1.06 × 10−15, respectively.

Denoising of river surface photogrammetric DEMs using deep learning

2021 ◽  
Author(s):  
Radosław Szostak ◽  
Przemysław Wachniew ◽  
Mirosław Zimnoch ◽  
Paweł Ćwiąkała ◽  
Edyta Puniach ◽  
...  
Keyword(s):  
Higher Education ◽  
Deep Learning ◽  
Water Level ◽  
Water Surface ◽  
Research University ◽  
Static Characteristic ◽  
Water Levels ◽  
Training Dataset ◽  
Observation Data ◽  
Characteristic Points

<p>Unmanned Aerial Vehicles (UAVs) can be an excellent tool for environmental measurements due to their ability to reach inaccessible places and fast data acquisition over large areas. In particular drones may have a potential application in hydrology, as they can be used to create photogrammetric digital elevation models (DEM) of the terrain allowing to obtain high resolution spatial distribution of water level in the river to be fed into hydrological models. Nevertheless, photogrammetric algorithms generate distortions on the DEM at the water bodies. This is due to light penetration below the water surface and the lack of static characteristic points on water surface that can be distinguished by the photogrammetric algorithm. The correction of these disturbances could be achieved by applying deep learning methods. For this purpose, it is necessary to build a training dataset containing DEMs before and after water surfaces denoising. A method has been developed to prepare such a dataset. It is divided into several stages. In the first step a photogrammetric surveys and geodetic water level measurements are performed. The second one includes generation of DEMs and orthomosaics using photogrammetric software. Finally in the last one the interpolation of the measured water levels is done to obtain a plane of the water surface and apply it to the DEMs to correct the distortion. The resulting dataset was used to train deep learning model based on convolutional neural networks. The proposed method has been validated on observation data representing part of Kocinka river catchment located in the central Poland.</p><p>This research has been partly supported by the Ministry of Science and Higher Education Project “Initiative for Excellence – Research University” and Ministry of Science and Higher Education subsidy, project no. 16.16.220.842-B02 / 16.16.150.545.</p>

scholarly journals Positioning Evaluation of Single and Dual-Frequency Low-Cost GNSS Receivers Signals Using PPP and Static Relative Methods in Urban Areas

2021 ◽  
Vol 11 (22) ◽  
pp. 10642
Author(s):  
Rosendo Romero-Andrade ◽  
Manuel E. Trejo-Soto ◽  
Alejandro Vega-Ayala ◽  
Daniel Hernández-Andrade ◽  
Jesús R. Vázquez-Ontiveros ◽  
...  
Keyword(s):  
Urban Areas ◽  
Precise Point Positioning ◽  
Low Cost ◽  
Observation Data ◽  
Dual Frequency ◽  
Positional Accuracy ◽  
Gnss Receivers ◽  
Point Positioning ◽  
Error Circle ◽  
Vertical Positioning

A positional accuracy obtained by the Precise Point Positioning and static relative methods was compared and analyzed. Test data was collected using low-cost GNSS receivers of single- and dual-frequency in urban areas. The data was analyzed for quality using the TEQC program to determine the degree of affectation of the signal in the urban area. Low-cost GNSS receivers were found to be sensitive to the multipath effect, which impacts positioning. The horizontal and vertical accuracy was evaluated with respect to Mexican regulations for the GNSS establishment criteria. Probable Error Circle (CEP) and Vertical Positioning Accuracy (EPV) were performed on low cost GNSS receiver observation data. The results show that low-cost dual-frequency GNSS receivers can be used in urban areas. The precision was obtained in the order of 0.013 m in the static relative method. The results obtained are comparable to a geodetic receiver in a geodetic baseline of <20 km. The study does not recommend using single and dual frequencies low cost GNSS receivers based on results obtained by the Precise Point Positioning (PPP) method in urban areas. The inclusion of the GGM10 model reduces the vertical precision obtained by using low cost GNSS receivers in both methods, conforming to the regulations only in the horizontal component.

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