scholarly journals Improved Weighting in Particle Filters Applied to Precise State Estimation

Author(s):  
Simone Zocca ◽  
Alex Minetto ◽  
Fabio Dovis

This letter presents a methodology to reduce the computational burden of Particle Filters (PF) used to achieve a target state estimation accuracy in Bayesian tracking problems. A strategy, named Multiple Weighting (MW), that exploits information diversity of the input measurements for an efficient weighting of the particles is introduced. This study shows that, by relying on the prior knowledge of the state-observations relationships, it is possible to achieve a significant reduction in the number of samples required to obtain any target accuracy. An experimental assessment is provided with an application to precise positioning estimation in Global Navigation Satellite System (GNSS) receivers.

2021 ◽  
Author(s):  
Simone Zocca ◽  
Alex Minetto ◽  
Fabio Dovis

This letter presents a methodology to reduce the computational burden of Particle Filters (PF) used to achieve a target state estimation accuracy in Bayesian tracking problems. A strategy, named Multiple Weighting (MW), that exploits information diversity of the input measurements for an efficient weighting of the particles is introduced. This study shows that, by relying on the prior knowledge of the state-observations relationships, it is possible to achieve a significant reduction in the number of samples required to obtain any target accuracy. An experimental assessment is provided with an application to precise positioning estimation in Global Navigation Satellite System (GNSS) receivers.


2012 ◽  
Vol 2012 ◽  
pp. 1-11 ◽  
Author(s):  
Sébastien Rougerie ◽  
Guillaume Carrié ◽  
François Vincent ◽  
Lionel Ries ◽  
Michel Monnerat

The well-known Space-Alternating Generalized Expectation Maximisation (SAGE) algorithm has been recently considered for multipath mitigation in Global Navigation Satellite System (GNSS) receivers. However, the implementation of SAGE in a GNSS receiver is a challenging issue due to the numerous number or parameters to be estimated and the important size of the data to be processed. A new implementation of the SAGE algorithm is proposed in this paper in order to reach the same efficiency with a reduced complexity. This paper focuses on the trade-off between complexity and performance thanks to the Cramer Rao bound derivation. Moreover, this paper shows how the proposed algorithm can be integrated with a classical GNSS tracking loop. This solution is thus a very promising approach for multipath mitigation.


2020 ◽  
Vol 10 (1) ◽  
pp. 381 ◽  
Author(s):  
Giulio Franzese ◽  
Nicola Linty ◽  
Fabio Dovis

This work focuses on a machine learning based detection of ionospheric scintillation events affecting Global Navigation Satellite System (GNSS) signals. We here extend the recent detection results based on Decision Trees, designing a semi-supervised detection system based on the DeepInfomax approach recently proposed. The paper shows that it is possible to achieve good classification accuracy while reducing the amount of time that human experts must spend manually labelling the datasets for the training of supervised algorithms. The proposed method is scalable and reduces the required percentage of annotated samples to achieve a given performance, making it a viable candidate for a realistic deployment of scintillation detection in software defined GNSS receivers.


Sensors ◽  
2019 ◽  
Vol 19 (18) ◽  
pp. 3860 ◽  
Author(s):  
Specht

According to the IHO (International Hydrographic Organization) S-44 standard, hydrographic surveys can be carried out in four categories, the so-called orders—special, 1a, 1b, and 2—for which minimum accuracy requirements for the applied positioning system have been set out. These amount to, respectively: 2 m, 5 m, 5 m, and 20 m at a confidence level of 0.95. It is widely assumed that GNSS (Global Navigation Satellite System) network solutions with an accuracy of 2–5 cm (p = 0.95) and maritime DGPS (Differential Global Positioning System) systems with an error of 1–2 m (p = 0.95) are currently the two main positioning methods in hydrography. Other positioning systems whose positioning accuracy increases from year to year (and which may serve as alternative solutions) have been omitted. The article proposes a method that enables an assessment of any given navigation positioning system in terms of its compliance (or non-compliance) with the minimum accuracy requirements specified for hydrographic surveys. The method concerned clearly assesses whether a particular positioning system meets the accuracy requirements set out for a particular IHO order. The model was verified, taking into account both past and present research results (stationary and dynamic) derived from tests on the following systems: DGPS, EGNOS (European Geostationary Navigation Overlay Service), and multi-GNSS receivers (GPS/GLONASS/BDS/Galileo). The study confirmed that the DGPS system meets the requirements for all IHO orders and proved that the EGNOS system can currently be applied in measurements in the orders 1a, 1b, and 2. On the other hand, multi-GNSS receivers meet the requirements for order 2, while some of them meet the requirements for orders 1a and 1b as well.


Author(s):  
H. Haddadi Amlashi ◽  
F. Samadzadegan ◽  
F. Dadrass Javan ◽  
M. Savadkouhi

Abstract. GNSS stands for Global Navigation Satellite System and is the standard generic term for satellite navigation systems that provide autonomous geo-spatial positioning with global coverage. The advantage of having access to multiple satellites is accuracy, redundancy, and availability at all the times. Though satellite systems do not often fail, if one fails GNSS receivers can pick up signals from other systems. If the line of sight is obstructed, having access to multiple satellites is also a benefit. GPS (Global Positioning System, USA), GLONASS (Global Navigation Satellite System, Russia), BeiDou (Compass, China), and some regional systems are positioning systems that are usually used. In recent years with the development of the UAVs and GNSS receivers, it is possible to manage an accurate PPK (Post Processing Kinematic) networks with a GNSS receiver mounted on a UAV to achieve the position of images principal points WGS1984 and to reduce the need for GCPs. But the most important challenge in a PPK task is, which a combination of different GNSS constellations would result in the most accurate computed position in checkpoints. For this purpose, this study focused on a PPK equipped UAV to map an open pit (Golgohar mine near Sirjan city). For the purpose, different combination of GPS, GLONASS and BeiDou used for position computed. Results are plotted and compared and found out having access to multiple constellations while doing a PPK task would bring higher accuracies in building photogrammetric models although it may cause some random error due to the higher values of noise while the number of the satellites increases.


2020 ◽  
Vol 1 (1) ◽  
Author(s):  
Bofeng Li ◽  
Zhiteng Zhang ◽  
Weikai Miao ◽  
Guang’e Chen

AbstractThe establishment of the BeiDou global navigation satellite system (BDS-3) has been completed, and the current constellation can independently provide positioning service globally. BDS-3 satellites provide quad-frequency signals, which can benefit the ambiguity resolution (AR) and high-precision positioning. This paper discusses the benefits of quad-frequency observations, including the precision gain of multi-frequency high-precision positioning and the sophisticated choice of extra-wide-lane (EWL) or wide-lane (WL) combinations for instantaneous EWL/WL AR. Additionally, the performance of EWL real-time kinematic (ERTK) positioning that only uses EWL/WL combinations is investigated. The results indicate that the horizontal positioning errors of ERTK positioning using ionosphere-free (IF) EWL observations are approximately 0.5 m for the baseline of 27 km and 1 m for the baseline of 300 km. Furthermore, the positioning errors are reduced to the centimetre level if the IF EWL observations are smoothed by narrow-lane observations for a short period.


2020 ◽  
Author(s):  
Patrick Henkel ◽  
Markus Lamm ◽  
Franziska Koch

<p>The snow water equivalent (SWE) is a key parameter in hydrology. In the past years, the signals of Global Navigation Satellite System (GNSS) receivers were discovered to be very attractive for SWE monitoring. The set-up of GNSS-based SWE monitoring typically consists of two GNSS receivers, whereas one is placed on the ground to sense the signal attenuation and time delay being caused by the snow pack. A second receiver is placed above the snow and serves as reference receiver. The measurements of both receivers are differenced to eliminate the common effect of errors in the satellite orbits and clocks, satellite phase and code biases and atmospheric errors, while the information on the snow is kept.</p><p>In this talk, we discuss the replacement of the reference receiver by a virtual reference station (VRS). The VRS is a virtual GNSS reference station, whose corrections are obtained by interpolation of the corrections from multiple surrounding reference stations to achieve a higher accuracy at the user location. The concept of VRS was first developed by Trimble and is widely used in today's real-time kinematic (RTK) positioning receivers. The concept of VRS is also attractive for snow monitoring, since the GNSS reference receiver could be avoided resulting in a lower power consumption and less costs. Moreover, this could be a big advantage for applications in slopes, which are, e.g., potentially avalanche prone. Within the hardware setup of our GNSS SWE sensors, an internet communication link for the reception of the corrections from the VRS corrections at the SWE monitoring site is already available.</p><p>However, there are also two challenges: First, the SWE monitoring stations in Alpine areas are typically at a significantly different altitude than the geodetic reference receivers. The differential tropospheric zenith delay is not negligible for altitudinal differences of more than 100 m. Therefore, the differential tropospheric delay needs to be considered either in the determination of VRS corrections or alternatively in the SWE determination. For altitudinal differences of less than 1000 m, the differential tropospheric zenith delay could be approximated by a model with sufficient accuracy. The residual modelling error is projected to the SWE estimate. Second, the use of a VRS instead of a conventional GNSS reference station requires a stronger data link, since the GNSS raw data (pseudoranges, carrier phases and carrier-to-noise power ratio measurements from all tracked satellites) need to be transmitted besides the final SWE results. However, an LTE link is totally sufficient.</p><p>Besides the methodology, we will also focus on specific hardware implementations.</p>


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