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Benefits from a multi-receiver architecture for GNSS RTK positioning and attitude determination / Xiao Hu (2021)

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Titre :	Benefits from a multi-receiver architecture for GNSS RTK positioning and attitude determination
Type de document :	Thèse/HDR
Auteurs :	Xiao Hu, Auteur ; Christophe Macabiau, Directeur de thèse ; Paul Thevenon, Directeur de thèse
Editeur :	Toulouse : Université de Toulouse
Année de publication :	2021
Importance :	217 p.
Format :	21 x 30 cm
Note générale :	bibliographie Thèse en vue de l'obtention du Doctorat de l'Université de Toulouse délivré par l'institut National Polytechnique de Toulouse
Langues :	Anglais (eng)
Descripteur :	[Vedettes matières IGN] Géodésie spatiale [Termes IGN] capteur d'orientation [Termes IGN] dégradation du signal [Termes IGN] erreur de mesure [Termes IGN] filtre de Kalman [Termes IGN] mesurage de phase [Termes IGN] milieu urbain [Termes IGN] modèle stochastique [Termes IGN] orientation de véhicule [Termes IGN] phase GNSS [Termes IGN] positionnement cinématique en temps réel [Termes IGN] récepteur GPS [Termes IGN] résolution d'ambiguïté [Termes IGN] signal GNSS [Termes IGN] trajet multiple
Index. décimale :	THESE Thèses et HDR
Résumé :	(auteur) Precise positioning with a stand-alone GPS receiver or using differential corrections is known to be strongly degraded in an urban or sub-urban environment due to frequent signal masking, strong multipath effect, frequent cycle slips on carrier phase, etc. The objective of this Ph.D. thesis is to explore the possibility of achieving precise positioning with a low-cost architecture using multiple installed low-cost single-frequency receivers with known geometry whose one of them is RTK positioned w.r.t an external reference receiver. This setup is thought to enable vehicle attitude determination and RTK performance amelioration. In this thesis, we firstly proposed a method that includes an array of receivers with known geometry to enhance the performance of the RTK in different environments. Taking advantage of the attitude information and the known geometry of the installed array of receivers, the improvement of some internal steps of RTK w.r.t an external reference receiver can be achieved. The navigation module to be implemented in this work is an Extended Kalman Filter (EKF). The performance of a proposed two-receiver navigation architecture is then studied to quantify the improvements brought by the measurement redundancy. This concept is firstly tested on a simulator in order to validate the proposed algorithm and to give a reference result of our multi-receiver system’s performance. The pseudo-range measurements and carrier phase measurements mathematical models are implemented in a realistic simulator. Different scenarios are conducted, including varying the distance between the 2 antennas of the receiver array, the satellite constellation geometry, and the amplitude of the noise measurement, in order to determine the influence of the use of an array of receivers. The simulation results show that our multi-receiver RTK system w.r.t an external reference receiver is more robust to noise and degraded satellite geometry, in terms of ambiguity fixing rate, and gets a better position accuracy under the same conditions when compared with the single receiver system. Additionally, our method achieves a relatively accurate estimation of the attitude of the vehicle which provides additional information beyond the positioning. In order to optimize our processing, the correlation of the measurement errors affecting observations taken by our array of receivers has been determined. Then, the performance of our real-time single frequency cycle-slip detection and repair algorithm has been assessed. These two investigations yielded important information so as to tune our Kalman Filter. The results obtained from the simulation made us eager to use actual data to verify and improve our multi-receiver RTK and attitude system. Tests based on real data collected around Toulouse, France, are used to test the performance of the whole methodology, where different scenarios are conducted, including varying the distance between the 2 antennas of the receiver array as well as the environmental conditions (open sky, suburban, and constrained urban environments). The thesis also tried to take advantage of a dual GNSS constellation, GPS and Galileo, to further strengthen the position solution and the reliable use of carrier phase measurements. The results show that our multi-receiver RTK system is more robust to degraded GNSS environments. Our experiments correlate favorably with our previous simulation results and further support the idea of using an array of receivers with known geometry to improve the RTK performance.
Note de contenu :	1- Introduction 2- GNSS functional and stochastic model 3- GNSS-based precise positioning and attitude estimation 4- Proposed multi-receiver architecture for GNSS precise positioning and attitude estimation 5- Simulation results and performance analysis 6- real data tests and results 7- Conclusions and perspectives
Numéro de notice :	15216
Affiliation des auteurs :	non IGN
Thématique :	POSITIONNEMENT
Nature :	Thèse française
Note de thèse :	Thèse de Doctorat : Informatique et Télécommunications : Toulouse : 2021
Organisme de stage :	ENAC-LAB
DOI :	sans
En ligne :	https://hal.science/tel-03506304/
Format de la ressource électronique :	URL
Permalink :	https://documentation.ensg.eu/index.php?lvl=notice_display&id=100473

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2014 -2024 IGN

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scientifique