Positioning Method without Current Navigation Data

Positioning errors were found through the analysis to AGPS positioning algorithm with mobile station (MS) clock error. These errors are engendered in the process of calculating the pseudo-range. Using fuzzy algorithm, the large positioning error of several hundred kilometers was eliminated. After this method, the objective function is quadratically related to the deviation of reference time. The objective function curve were fitted with three reference time values and determined the lowest point of curve to amend the reference time. This method removed residual positioning error.

Download Full-text

Eliminating Linear Positioning Bias with Polynomial Approximation in AGPS Method

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.263-266.383 ◽

2012 ◽

Vol 263-266 ◽

pp. 383-386 ◽

Cited By ~ 1

Author(s):

Ji Zhong Li ◽

Yan Zhao Li

Keyword(s):

Objective Function ◽

Global Positioning System ◽

Polynomial Approximation ◽

Mobile Station ◽

Positioning System ◽

Reference Time ◽

Positioning Errors ◽

Global Positioning ◽

Positioning Method ◽

Positioning Algorithm

An AGPS (assisted global positioning system) positioning method was researched with polynomial approximation in this paper. Linear positioning errors were found through the analysis of an AGPS positioning algorithm with mobile station (MS) clock error. These errors were engendered to induce a bias of reference moment. The value of an objective function can be quadratically related to the deviation of reference time. Thus, the objective function curve was fitted with three reference time values, and the lowest point of curve to amend the reference time is determined. This method can eliminate linear positioning error.

Download Full-text

The Application of the BSSD Iono-Free Linear Combination Method in the Processing of Aircraft Positioning

Journal of KONES ◽

10.2478/kones-2019-0052 ◽

2019 ◽

Vol 26 (3) ◽

pp. 15-21

Author(s):

Janusz Ćwiklak ◽

Marek Grzegorzewski ◽

Kamil Krasuski

Keyword(s):

Linear Combination ◽

Experimental Test ◽

Combination Method ◽

Dual Frequency ◽

Chi Square ◽

Internal Reliability ◽

Navigation Data ◽

Positioning Method ◽

Gps System ◽

Positioning Algorithm

Abstract The article presents the results of research into the use of the differentiation technique of BSSD (Between Satellite Single Difference) observations for the Iono-Free LC combination (Linear Combination) in the GPS system for the needs of aircraft positioning. Within the conducted investigations, a positioning algorithm for the BSSD Iono-Free LC positioning method was presented. In addition, an experimental test was conducted, in which raw observational data and GPS navigation data were exploited in order to recover the aircraft position. The examination was conducted for the Cessna 172 and the on-board dual-frequency receiver Topcon HiperPro. The experimental test presents the results of average errors of determining the position of the Cessna 172 in the XYZ geocentric frame and in the ellipsoidal BLh frame. Furthermore, the article presents the results of DOP (Dilution of Precision) coefficients, the test of the Chi square internal reliability test and the HPL and VPL confidence levels in GNSS precision approach (PA) in air transport. The calculations were performed in the original APS software (APS Aircraft Positioning Software) developed in the Department of Air Navigation of the Faculty of Aeronautics at the Polish Air Force University.

Download Full-text

Research on spatial positioning of online inspection robots for vertical storage tanks

Industrial Robot the international journal of robotics research and application ◽

10.1108/ir-08-2019-0168 ◽

2019 ◽

Vol 47 (2) ◽

pp. 187-195

Author(s):

Zhiqiang Huang ◽

Lei He ◽

ZhaoXin Gao ◽

Yingqi Jia ◽

Yewei Kang ◽

...

Keyword(s):

Storage Tank ◽

Positioning Error ◽

Content Type ◽

Positioning Method ◽

Spatial Positioning ◽

Inspection Robots ◽

Positioning Algorithm ◽

Online Inspection ◽

Technology Level ◽

Acoustic Positioning

Purpose This paper aims to introduce a new acoustic positioning method to solve the problem of space positioning for online inspection robots within the storage tank. Design/methodology/approach The proposed positioning system comprises two acoustic signal emitters and two receivers. Emitters are brought by the robot into the storage tank. Receivers are mounted on the external edge of the storage tank floor. The spatial coordinate values and motion directions of the robot in the storage tank are calculated by using the proposed acoustic positioning algorithm. Findings The experiment results and positioning error analysis indicate that the method can obtain the data of robotic space coordinates and motion orientation, while the positioning error of the method can be less than 20 cm. The accuracy reaches the positioning technology level of other tank online inspection robots. Originality/value This method not only expands the positioning of the inspection robots from 2D plane to 3D space but also significantly reduces the number of positioning sensors carried by a robot and improves the safety of a robot in the tank.

Download Full-text

Exploration of Wireless Sensor Network Based on RSSI Positioning Algorithm

International Journal of Online Engineering (iJOE) ◽

10.3991/ijoe.v14i11.9519 ◽

2018 ◽

Vol 14 (11) ◽

pp. 133

Author(s):

Shuan Liu

Keyword(s):

Signal Strength ◽

Wireless Sensor ◽

Positioning Error ◽

Network Resources ◽

Simulation Experiments ◽

Wormhole Attack ◽

Positioning Method ◽

Physical Information ◽

Positioning Algorithm ◽

Node Energy

Based on the security of the receiving signal strength indicator positioning algorithm, the RSSI positioning algorithm in the environment of witch attack, wormhole attack and replication attack has largely failed.Although existing security positioning algorithms can effectively prevent attacks from occurring, the massive consumption of network resources can’t be ignored.Therefore, a tolerable security positioning method is proposed for each of the three attacks in order to improve the security of positioning.According to the node's physical information, the attack node is detected.Through simulation experiments, compared with the traditional indoor security positioning method, the proposed algorithm can significantly reduce the intervention of witch attack, wormhole attack and replication attack on positioning error.While achieving the goal of combating attacks, it reduces the computational complexity, decreases node energy consumption, and extends the network life cycle.

Download Full-text

An Improved Indoor Positioning Method Based on Nearest Neighbor Interpolation

Network and Communication Technologies ◽

10.5539/nct.v6n1p1 ◽

2021 ◽

Vol 6 (1) ◽

pp. 1

Author(s):

Yonghao Zhao

Keyword(s):

Nearest Neighbor ◽

Indoor Positioning ◽

Location Information ◽

Positioning Error ◽

Positioning Accuracy ◽

Indoor Location ◽

Sampling Points ◽

Sampling Cost ◽

Positioning Method ◽

Positioning Algorithm

Nowadays, people’s demand for indoor location information is more and more, which continuously promotes the development of indoor positioning technology. In the field of indoor positioning, fingerprint based indoor positioning algorithm still accounts for a large proportion. However, the operation of this method in the offline stage is too cumbersome and time-consuming, which makes its disadvantages obvious, and requires a lot of manpower and time to sample and maintain. Therefore, in view of this phenomenon, an improved algorithm based on nearest neighbor interpolation is designed in this paper, which reduces the measurement of actual sampling points when establishing fingerprint map. At the same time, some simulation points are added to expand fingerprint map, so as to ensure that the positioning error will not become larger or even better. Experimental results show that this method can further improve the positioning accuracy while saving the sampling cost.

Download Full-text

Improved RSSI Positioning Algorithm for Coal Mine Underground Locomotive

Journal of Electrical and Computer Engineering ◽

10.1155/2015/918962 ◽

2015 ◽

Vol 2015 ◽

pp. 1-8 ◽

Cited By ~ 4

Author(s):

Bin Ge ◽

Kai Wang ◽

Jianghong Han ◽

Bao Zhao

Keyword(s):

Coal Mine ◽

Gaussian Model ◽

Correction Method ◽

Positioning Error ◽

Positioning Accuracy ◽

Positioning Errors ◽

Weighted Model ◽

The Difference ◽

Positioning Algorithm ◽

Received Signal Strength Indication

Aiming at the large positioning errors of traditional coal mine underground locomotive, an improved received signal strength indication (RSSI) positioning algorithm for coal mine underground locomotive was proposed. The RSSI value fluctuates heavily due to the poor environment of coal mine underground. The nodes with larger RSSI value corrected by Gaussian-weighted model were selected as beacon nodes. In order to reduce the positioning error further, the estimated positions of the locomotives were corrected by the weighted distance correction method. The difference between actual position and estimated position of beacon node was regarded as the positioning error and was given a corresponding weight. The results of simulation show that the positioning accuracy of Gaussian-weighted model is better than statistical average model and Gaussian model and it has a high positioning accuracy after correcting positioning error correction. In the 10 m of communication range, positioning error can be maintained at 0.5 m.

Download Full-text

An Improved Long-Period Precise Time-Relative Positioning Method Based on RTS Data

Sensors ◽

10.3390/s21010053 ◽

2020 ◽

Vol 21 (1) ◽

pp. 53

Author(s):

Yangwei Lu ◽

Shengyue Ji ◽

Rui Tu ◽

Duojie Weng ◽

Xiaochun Lu ◽

...

Keyword(s):

High Precision ◽

Reference Station ◽

Positioning Error ◽

Relative Positioning ◽

Precision Positioning ◽

Positioning Accuracy ◽

Long Period ◽

Short Period ◽

Positioning Method ◽

Positioning Algorithm

The high precision positioning can be easily achieved by using real-time kinematic (RTK) and precise point positioning (PPP) or their augmented techniques, such as network RTK (NRTK) and PPP-RTK, even if they also have their own shortfalls. A reference station and datalink are required for RTK or NRTK. Though the PPP technique can provide high accuracy position data, it needs an initialisation time of 10–30 min. The time-relative positioning method estimates the difference between positions at two epochs by means of a single receiver, which can overcome these issues within short period to some degree. The positioning error significantly increases for long-period precise positioning as consequence of the variation of various errors in GNSS (Global Navigation Satellite System) measurements over time. Furthermore, the accuracy of traditional time-relative positioning is very sensitive to the initial positioning error. In order to overcome these issues, an improved time-relative positioning algorithm is proposed in this paper. The improved time-relative positioning method employs PPP model to estimate the parameters of current epoch including position vector, float ionosphere-free (IF) ambiguities, so that these estimated float IF ambiguities are used as a constraint of the base epoch. Thus, the position of the base epoch can be estimated by means of a robust Kalman filter, so that the position of the current epoch with reference to the base epoch can be obtained by differencing the position vectors between the base epoch and the current one. The numerical results obtained during static and dynamic tests show that the proposed positioning algorithm can achieve a positioning accuracy of a few centimetres in one hour. As expected, the positioning accuracy is highly improved by combining GPS, BeiDou and Galileo as a consequence of a higher amount of used satellites and a more uniform geometrical distribution of the satellites themselves. Furthermore, the positioning accuracy achieved by using the positioning algorithm here described is not affected by the initial positioning error, because there is no approximation similar to that of the traditional time-relative positioning. The improved time-relative positioning method can be used to provide long-period high precision positioning by using a single dual-frequency (L1/L2) satellite receiver.

Download Full-text

Subjective Evaluation of Three Headphone-Based Virtual Sound Source Positioning Methods Including Differential Head-Related Transfer Function

Archives of Acoustics ◽

10.1515/aoa-2016-0043 ◽

2016 ◽

Vol 41 (3) ◽

pp. 437-447

Author(s):

Dominik Storek ◽

Frantisek Rund ◽

Petr Marsalek

Keyword(s):

Transfer Function ◽

Sound Source ◽

Subjective Evaluation ◽

Sound Localisation ◽

Signal Features ◽

Listening Tests ◽

Positioning Method ◽

Head Related Transfer Function ◽

Positioning Algorithm ◽

Source Positioning

Abstract This paper analyses the performance of Differential Head-Related Transfer Function (DHRTF), an alternative transfer function for headphone-based virtual sound source positioning within a horizontal plane. This experimental one-channel function is used to reduce processing and avoid timbre affection while preserving signal features important for sound localisation. The use of positioning algorithm employing the DHRTF is compared to two other common positioning methods: amplitude panning and HRTF processing. Results of theoretical comparison and quality assessment of the methods by subjective listening tests are presented. The tests focus on distinctive aspects of the positioning methods: spatial impression, timbre affection, and loudness fluctuations. The results show that the DHRTF positioning method is applicable with very promising performance; it avoids perceptible channel coloration that occurs within the HRTF method, and it delivers spatial impression more successfully than the simple amplitude panning method.

Download Full-text

Factor Graph-Assisted Distributed Cooperative Positioning Algorithm in the GNSS System

Sensors ◽

10.3390/s18113748 ◽

2018 ◽

Vol 18 (11) ◽

pp. 3748 ◽

Cited By ~ 11

Author(s):

Chengkai Tang ◽

Lingling Zhang ◽

Yi Zhang ◽

Houbing Song

Keyword(s):

Smart Cities ◽

Factor Graph ◽

Positioning Error ◽

Positioning Accuracy ◽

Cooperative Positioning ◽

Measured Range ◽

Ranging Error ◽

Positioning Algorithm ◽

Range Error ◽

Cooperative Nodes

The development of smart cities calls for improved accuracy in navigation and positioning services; due to the effects of satellite orbit error, ionospheric error, poor quality of navigation signals and so on, it is difficult for existing navigation technology to achieve further improvements in positioning accuracy. Distributed cooperative positioning technology can further improve the accuracy of navigation and positioning with existing GNSS (Global Navigation Satellite System) systems. However, the measured range error and the positioning error of the cooperative nodes exhibit larger reductions in positioning accuracy. In response to this question, this paper proposed a factor graph-aided distributed cooperative positioning algorithm. It establishes the confidence function of factor graphs theory with the ranging error and the positioning error of the coordinated nodes and then fuses the positioning information of the coordinated nodes by the confidence function. It can avoid the influence of positioning error and ranging error and improve the positioning accuracy of cooperative nodes. In the simulation part, the proposed algorithm is compared with a mainly coordinated positioning algorithm from four aspects: the measured range error, positioning error, convergence speed, and mutation error. The simulation results show that the proposed algorithm leads to a 30–60% improvement in positioning accuracy compared with other algorithms under the same measured range error and positioning error. The convergence rate and mutation error elimination times are only 1 / 5 to 1 / 3 of the other algorithms.

Download Full-text

Indoor Positioning Method Based on Infrared Vision and UWB Fusion

Journal of Physics Conference Series ◽

10.1088/1742-6596/2078/1/012070 ◽

2021 ◽

Vol 2078 (1) ◽

pp. 012070

Author(s):

Qianrong Zhang ◽

Yi Li

Keyword(s):

Real Time ◽

Indoor Localization ◽

Low Cost ◽

Ultra Wideband ◽

Coverage Area ◽

Positioning Accuracy ◽

Mobile Vehicle ◽

Positioning Method ◽

Positioning Algorithm ◽

Infrared Vision

Abstract Ultra-wideband (UWB) has broad application prospects in the field of indoor localization. In order to make up for the shortcomings of ultra-wideband that is easily affected by the environment, a positioning method based on the fusion of infrared vision and ultra-wideband is proposed. Infrared vision assists locating by identifying artificial landmarks attached to the ceiling. UWB uses an adaptive weight positioning algorithm to improve the positioning accuracy of the edge of the UWB positioning coverage area. Extended Kalman filter (EKF) is used to fuse the real-time location information of the two. Finally, the intelligent mobile vehicle-mounted platform is used to collect infrared images and UWB ranging information in the indoor environment to verify the fusion method. Experimental results show that the fusion positioning method is better than any positioning method, has the advantages of low cost, real-time performance, and robustness, and can achieve centimeter-level positioning accuracy.

Download Full-text