scholarly journals An Integrated Positioning and Attitude Determination System for Immersed Tunnel Elements: A Simulation Study

Sensors ◽  
2020 ◽  
Vol 20 (24) ◽  
pp. 7296
Author(s):  
Guanqing Li ◽  
Lasse Klingbeil ◽  
Florian Zimmermann ◽  
Shengxiang Huang ◽  
Heiner Kuhlmann
Keyword(s):  
Sound Speed ◽  
Attitude Determination ◽  
Satellite System ◽  
Sufficient Accuracy ◽  
Navigation Satellite ◽  
Accuracy Analysis ◽  
Absolute Position ◽  
Immersed Tunnel ◽  
Determination System ◽  
Global Navigation Satellite

Immersed tunnel elements need to be exactly controlled during their immersion process. Position and attitude of the element should be determined quickly and accurately to navigate the element from the holding area to the final location in the tunnel trench. In this paper, a newly-developed positioning and attitude determination system, integrating a 3-antenna Global Navigation Satellite System (GNSS) system, an inclinometer and a range-measurement system, is presented. The system is designed to provide the absolute position of both ends of the element with sufficient accuracy in real time. Special attention in the accuracy analysis is paid to the influence of GNSS multipath error and sound speed profile. Simulations are conducted to illustrate the performance of the system in different scenarios. If both elements are very close, the accuracies of the system are higher than 0.02 m in the directions perpendicular to and along the tunnel axis.

A Novel GNSS Attitude Determination Method Based on Primary Baseline Switching for A Multi-Antenna Platform

2020 ◽  
Vol 12 (5) ◽  
pp. 747
Author(s):  
Peng Zhang ◽  
Yinzhi Zhao ◽  
Huan Lin ◽  
Jingui Zou ◽  
Xinzhe Wang ◽  
...  
Keyword(s):  
Attitude Determination ◽  
Low Cost ◽  
Satellite System ◽  
Poor Quality ◽  
Integrated Navigation ◽  
Determination Method ◽  
Integrated Navigation System ◽  
Determination System ◽  
Vehicle Test ◽  
Global Navigation Satellite

The global navigation satellite system (GNSS)-based attitude determination system has attracted more and more attention with the advantages of having simplified algorithms, a low price and errors that do not accumulate over time. However, GNSS signals may have poor quality or lose lock in some epochs with the influence of signal fading and the multipath effect. When the direct attitude determination method is applied, the primary baseline may not be available (ambiguity is not fixed), leading to the inability of attitude determination. With the gradual popularization of low-cost receivers, making full use of spatial redundancy information of multiple antennas brings new ideas to the GNSS-based attitude determination method. In this paper, an attitude angle conversion algorithm, selecting an arbitrary baseline as the primary baseline, is derived. A multi-antenna attitude determination method based on primary baseline switching is proposed, which is performed on a self-designed embedded software and hardware platform. The proposed method can increase the valid epoch proportion and attitude information. In the land vehicle test, reference results output from a high-accuracy integrated navigation system were used to evaluate the accuracy and reliability. The results indicate that the proposed method is correct and feasible. The valid epoch proportion is increased by 16.2%, which can effectively improve the availability of attitude determination. The RMS of the heading, pitch and roll angles are 0.52°, 1.25° and 1.16°.

scholarly journals Performance Assessment of BDS-2/BDS-3/GPS/Galileo Attitude Determination Based on the Single-Differenced Model with Common-Clock Receivers

2021 ◽  
Vol 13 (23) ◽  
pp. 4845
Author(s):  
Mingkui Wu ◽  
Shuai Luo ◽  
Wang Wang ◽  
Wanke Liu
Keyword(s):  
High Precision ◽  
Global Navigation Satellite System ◽  
Attitude Determination ◽  
Satellite System ◽  
Navigation Satellite ◽  
Pitch Accuracy ◽  
Rms Error ◽  
Global Navigation ◽  
Global Navigation Satellite ◽  
Sd Model

Global navigation satellite system (GNSS)-based attitude determination has been widely applied in a variety of fields due to its high precision, no error accumulation, low power consumption, and low cost. Recently, the emergence of common-clock receivers and construction of GNSS systems have brought new opportunities for high-precision GNSS-based attitude determination. In this contribution, we focus on evaluating the performance of the BeiDou regional navigation satellite system (BDS-2)/BeiDou global navigation satellite system (BDS-3)/Global Positioning System (GPS)/Galileo navigation satellite system (Galileo) attitude determination based on the single-differenced (SD) model with a common-clock receiver. We first investigate the time-varying characteristics of BDS-2/BDS-3/GPS/Galileo line bias (LB) with two different types of common-clock receivers. The results have confirmed that both the phase and code LBs are relatively stable in the time domain once the receivers have started. However, the phase LB is expected to change to an arbitrary value after each restart of the common-clock receivers. For the first time, it is also found that the phase LBs of overlapping frequencies shared by different GNSS systems are identical. Then, we primarily evaluated the performance of BDS-2/BDS-3/GPS/Galileo precise relative positioning and attitude determination based on the SD model with a common-clock receiver, using a static dataset collected at Wuhan. Experimental results demonstrated that, compared with the double-differenced (DD) model, the SD model can deliver a comparable root–mean–square (RMS) error of yaw but a significantly smaller RMS error of pitch, whether for BDS-2, BDS-3, GPS, or Galileo alone or a combination of them. The improvements of pitch accuracy are approximately 20.8–47.5% and 40.7–57.5% with single- and dual-frequency observations, respectively. Additionally, BDS-3 can deliver relatively superior positioning and attitude accuracy with respect to GPS and Galileo, due to its better geometry. The three-dimensional positioning and attitude (including yaw and pitch) accuracy for both the DD and SD models can be remarkably improved by the BDS-2, BDS-3, GPS, and Galileo combination with respect to a single system alone.

scholarly journals Accuracy Analysis of GNSS (GPS, GLONASS and BEIDOU) Obsevation For Positioning

2019 ◽  
Vol 94 ◽  
pp. 01019
Author(s):  
Khomsin ◽  
Ira Mutiara Anjasmara ◽  
Danar Guruh Pratomo ◽  
Wahyu Ristanto
Keyword(s):  
Global Positioning System ◽  
Global Navigation Satellite System ◽  
Satellite System ◽  
Positioning System ◽  
Navigation Satellite ◽  
Accuracy Analysis ◽  
Global Positioning ◽  
The Future ◽  
Global Navigation ◽  
Global Navigation Satellite

Global Navigation Satellite System called GNSS is a term used for the entire global navigation that already operate or are in the planning for the future. Some of the satellite that can be used are GPS (Global Positioning System) operated by USA, GLONASS (Global Navigation Satellite System) operated by Rusia and BeiDou/Compass operated by China. Many errors and biases that occur when measuring with GNSS in the field. Theoritically, there are some errors and biases that can be eliminated or subtracted by strength of satellite geometric. One factor to get a good satellite geometric is to increase the number of satellites received by receiver. In general, the more number of satellites received, the better the geometric satellites received by receivers. The development of receiver technology is currently able to capture GPS, GLONASS and BeiDou signals at one time. Thus the receiver can receive many satellites and finally the shape of geometric satellite becomes better. HiTarget V30 is one of the latest GNSS technology on the market today. This receiver is capable of receiving GPS signals, GLONASS and BeiDou at one time of observation. This research will compare the accuracy of positioning using GPS, GLONASS and BeiDou satellite.

A semi-analytical solution to the global navigation satellite system attitude determination problem

2017 ◽  
Vol 233 (3) ◽  
pp. 1033-1046
Author(s):  
Shengquan Li ◽  
Jianjun Zhu ◽  
Long Fan ◽  
Guobin Chang ◽  
Kailiang Deng
Keyword(s):  
Analytical Solution ◽  
Global Navigation Satellite System ◽  
Carrier Phase ◽  
Attitude Determination ◽  
Optimal Solution ◽  
Satellite System ◽  
Navigation Satellite ◽  
Estimation Errors ◽  
Global Navigation ◽  
Global Navigation Satellite

Global navigation satellite system attitude determination based on carrier phase differencing technique is studied. A realistic stochastic model is followed to fully consider the correlations among different measurements in the least-squares problem formulation. A prior-free, computation-fixed, and averagely optimal solution is proposed suitable for real-time and high-dynamic situations. The prior-free property is achieved by developing an analytical sub-optimal solution. This solution follows first transforming the original problem into one with vector measurements and then further approximating it with a general Wahba’s problem. The fixed computation is guaranteed by performing only one or two rounds of correction of the analytical solution. Every single round follows a linearization-estimation-correction process. The process also provides an error or covariance analysis for the estimate. The average optimality in terms of the root mean squared errors is brought about by the relatively good quality of the analytical solution and the fast convergence of the correction processes. The numerical experiments, with three 4 m long baselines and 5 mm (standard deviation) carrier phase errors, show that the estimation errors (in magnitude) for all three channels are well below 0.4° for almost all epochs and within 0.2° for most epochs.

scholarly journals Estimation of fractional cycle bias for GPS/BDS-2/Galileo based on international GNSS monitoring and assessment system observations using the uncombined PPP model

2021 ◽  
Vol 2 (1) ◽  
Author(s):  
Jin Wang ◽  
Qin Zhang ◽  
Guanwen Huang
Keyword(s):  
Estimation Method ◽  
Satellite Orbit ◽  
Satellite System ◽  
Assessment System ◽  
Navigation Satellite ◽  
Dual Frequency ◽  
Fractional Cycle Bias ◽  
The Stability ◽  
High Consistency ◽  
Global Navigation Satellite

AbstractThe Fractional Cycle Bias (FCB) product is crucial for the Ambiguity Resolution (AR) in Precise Point Positioning (PPP). Different from the traditional method using the ionospheric-free ambiguity which is formed by the Wide Lane (WL) and Narrow Lane (NL) combinations, the uncombined PPP model is flexible and effective to generate the FCB products. This study presents the FCB estimation method based on the multi-Global Navigation Satellite System (GNSS) precise satellite orbit and clock corrections from the international GNSS Monitoring and Assessment System (iGMAS) observations using the uncombined PPP model. The dual-frequency raw ambiguities are combined by the integer coefficients (4,− 3) and (1,− 1) to directly estimate the FCBs. The details of FCB estimation are described with the Global Positioning System (GPS), BeiDou-2 Navigation Satellite System (BDS-2) and Galileo Navigation Satellite System (Galileo). For the estimated FCBs, the Root Mean Squares (RMSs) of the posterior residuals are smaller than 0.1 cycles, which indicates a high consistency for the float ambiguities. The stability of the WL FCBs series is better than 0.02 cycles for the three GNSS systems, while the STandard Deviation (STD) of the NL FCBs for BDS-2 is larger than 0.139 cycles. The combined FCBs have better stability than the raw series. With the multi-GNSS FCB products, the PPP AR for GPS/BDS-2/Galileo is demonstrated using the raw observations. For hourly static positioning results, the performance of the PPP AR with the three-system observations is improved by 42.6%, but only 13.1% for kinematic positioning results. The results indicate that precise and reliable positioning can be achieved with the PPP AR of GPS/BDS-2/Galileo, supported by multi-GNSS satellite orbit, clock, and FCB products based on iGMAS.

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