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Smoothing algorithms for navigation, localisation and mapping based on high-grade inertial sensors / Paul Chauchat (2020)
Titre : Smoothing algorithms for navigation, localisation and mapping based on high-grade inertial sensors Type de document : Thèse/HDR Auteurs : Paul Chauchat, Auteur ; Silvère Bonnabel, Directeur de thèse Editeur : Paris : Université Paris Sciences et Lettres Année de publication : 2020 Importance : 135 p. Format : 21 x 30 cm Note générale : bibliographie
Thèse de Doctorat de l'Université Paris Sciences et Lettres, Informatique temps réel, robotique, automatiqueLangues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] cadre conceptuel
[Termes IGN] cartographie et localisation simultanées
[Termes IGN] centrale inertielle
[Termes IGN] filtre de Kalman
[Termes IGN] itération
[Termes IGN] lissage de données
[Termes IGN] navigation inertielle
[Termes IGN] robotiqueIndex. décimale : THESE Thèses et HDR Résumé : (auteur) Mobile systems need to locate themselves ever more accurately, and in ever more complex situations. This is in particular true for autonomous systems, for which controlling the position error is a critical safety issue. To this end, they are endowed with various sensors, the data of which are fused to obtain an estimate of the vehicle’s location, either globally (with the GPS for instance), or locally, with respect to its surroundings (with cameras for instance). This thesis investigates algorithms for localisation by sensor fusion, namely filtering and especially smoothing, when the mobile is equipped with high-grade inertial sensors. The first part deals with the nonlinear consequences of the use of high-grade inertial sensors, and demonstrates how the nonlinear structure of both filtering and smoothing algorithms may be improved by leveraging the invariant filtering framework. The second part deals with the problems incurred by the linear solvers that are used at each step of nonlinear smoothing algorithms as a result of having highly precise sensors. It introduces a novel least-squares linear solver that solves the issues. Note de contenu : Introduction
I- From Invariant filtering to invariant smoothing
II- Navigation with highly precise sensors
ConclusionNuméro de notice : 28576 Affiliation des auteurs : non IGN Thématique : INFORMATIQUE/POSITIONNEMENT Nature : Thèse française Note de thèse : thèse de Doctorat : Informatique temps réel, robotique, automatique : Paris Sciences et Lettres : 2020 Organisme de stage : Centre de robotique (Paris) En ligne : https://pastel.archives-ouvertes.fr/tel-02887295/document Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=97843 Kalman-filter-based undifferenced cycle slip estimation in real-time precise point positioning / Pan Li in GPS solutions, vol 23 n° 4 (October 2019)
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Titre : Kalman-filter-based undifferenced cycle slip estimation in real-time precise point positioning Type de document : Article/Communication Auteurs : Pan Li, Auteur ; Xinyuan Jiang, Auteur ; Xiaohong Zhang, Auteur ; et al., Auteur Année de publication : 2019 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale
[Termes IGN] filtre de Kalman
[Termes IGN] glissement de cycle
[Termes IGN] interruption du signal
[Termes IGN] mesurage de phase
[Termes IGN] modèle mathématique
[Termes IGN] positionnement cinématique
[Termes IGN] positionnement ponctuel précis
[Termes IGN] précision du positionnement
[Termes IGN] station GLONASS
[Termes IGN] station GPS
[Termes IGN] temps réelRésumé : (Auteur) Global navigation satellite system (GNSS) precise point positioning (PPP) requires continuous carrier-phase observations to achieve a solution of high precision. Precisely correcting cycle slips caused by signal interruptions is crucial for recovering the data continuity. Most of the existing approaches usually employ only data of one epoch after the interruption for real-time cycle slip processing. In this study, we propose to introduce and estimate cycle slip parameters together with standard PPP parameters, such as position, ionospheric delay, and ambiguities in the case that possible cycle slips are detected, using a Kalman-filter-based procedure with the undifferenced and uncombined PPP model. The integer search strategy is used to fix cycle slips. To reduce the probability of wrong integer fixing, a strict integer validation threshold is suggested. As a result, it is not easy to fix all cycle slips with only one epoch of data. Our approach can be easily extended to use multi-epoch observations to enhance the cycle slip estimation. Once the cycle slips are correctly determined, continuous PPP can be achieved instantaneously. This new approach is tested and validated with three groups of experiments using GPS and GLONASS stations operated by the International GNSS Service from DOY 1–10, 2017, and a real vehicle kinematic data. Numerous experimental results showed that the proposed method can correctly fix the cycle slips for more than 99.5% of epochs suffering from re-convergence. On average, this method takes observation information from about 1.5–2.5 epochs to fix cycle slips and realize rapid re-convergence. Consequently, positioning performance is significantly improved. Numéro de notice : A2019-334 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s10291-019-0894-3 Date de publication en ligne : 16/07/2019 En ligne : https://doi.org/10.1007/s10291-019-0894-3 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=93423
in GPS solutions > vol 23 n° 4 (October 2019)[article]Decomposition of geodetic time series: A combined simulated annealing algorithm and Kalman filter approach / Feng Ming in Advances in space research, vol 64 n°5 (1 September 2019)
[article]
Titre : Decomposition of geodetic time series: A combined simulated annealing algorithm and Kalman filter approach Type de document : Article/Communication Auteurs : Feng Ming, Auteur ; Yuanxi Yang, Auteur ; Anmin Zeng, Auteur ; Bin Zhao, Auteur Année de publication : 2019 Article en page(s) : pp Langues : Anglais (eng) Descripteur : [Termes IGN] algorithme du recuit simulé
[Termes IGN] bruit (théorie du signal)
[Termes IGN] bruit blanc
[Termes IGN] bruit rose
[Termes IGN] données GPS
[Termes IGN] filtre de Kalman
[Termes IGN] méthode du maximum de vraisemblance (estimation)
[Termes IGN] série temporelle
[Termes IGN] variation saisonnière
[Vedettes matières IGN] Traitement de données GNSSNuméro de notice : A2019-399 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.asr.2019.05.049 Date de publication en ligne : 10/06/2019 En ligne : https://doi.org/10.1016/j.asr.2019.05.049 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=93519
in Advances in space research > vol 64 n°5 (1 September 2019) . - pp[article]Robust M–M unscented Kalman filtering for GPS/IMU navigation / Cheng Yang in Journal of geodesy, vol 93 n° 8 (August 2019)
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Titre : Robust M–M unscented Kalman filtering for GPS/IMU navigation Type de document : Article/Communication Auteurs : Cheng Yang, Auteur ; Wenzhong Shi, Auteur ; Wu Chen, Auteur Année de publication : 2019 Article en page(s) : pp 1093 - 1104 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] coefficient de corrélation
[Termes IGN] couplage GNSS-INS
[Termes IGN] erreur de mesure
[Termes IGN] erreur de modèle
[Termes IGN] filtre de Kalman
[Termes IGN] matrice de covariance
[Termes IGN] méthode du maximum de vraisemblance (estimation)
[Termes IGN] méthode robuste
[Termes IGN] modèle non linéaireRésumé : (auteur) In this paper, a robust unscented Kalman filter (UKF) based on the generalized maximum likelihood estimation (M-estimation) is proposed to improve the robustness of the integrated navigation system of Global Navigation Satellite System and Inertial Measurement Unit. The UKF is a variation of Kalman filter by which the Jacobian matrix calculation in a nonlinear system state model is not necessary. The proposed robust M–M unscented Kalman filter (RMUKF) applies the M-estimation principle to both functional model errors and measurement errors. Hence, this robust filter attenuates the influences of disturbances in the dynamic model and of measurement outliers without linearizing the nonlinear state space model. In addition, an equivalent weight matrix, composed of the bi-factor shrink elements, is proposed in order to keep the original correlation coefficients of the predicted state unchanged. Furthermore, a nonlinear error model is used as the dynamic equation to verify the performance of the proposed RMUKF with a simulation and field test. Compared with the conventional UKF, the impacts of measurement outliers and system disturbances on the state estimation are both controlled by RMUKF. Numéro de notice : A2019-370 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-018-01227-5 Date de publication en ligne : 22/01/2019 En ligne : https://doi.org/10.1007/s00190-018-01227-5 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=93455
in Journal of geodesy > vol 93 n° 8 (August 2019) . - pp 1093 - 1104[article]On the detectability of mis-modeled biases in the network-derived positioning corrections and their user impact / Amir Khodabandeh in GPS solutions, vol 23 n° 3 (July 2019)
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Titre : On the detectability of mis-modeled biases in the network-derived positioning corrections and their user impact Type de document : Article/Communication Auteurs : Amir Khodabandeh, Auteur ; Jinling Wang, Auteur ; Chris Rizos, Auteur ; Ahmed El-Mowafy, Auteur Année de publication : 2019 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] correction
[Termes IGN] filtre de Kalman
[Termes IGN] inférence statistique
[Termes IGN] intégrité des données
[Termes IGN] modèle linéaire
[Termes IGN] positionnement cinématique en temps réel
[Termes IGN] positionnement par GNSS
[Termes IGN] positionnement ponctuel précis
[Termes IGN] précision du positionnement
[Termes IGN] Receiver Autonomous Integrity Monitoring
[Termes IGN] traitement de données GNSSRésumé : (auteur) High-precision single-receiver positioning requires the provision of reliable network-derived corrections. Care must therefore be exercised to continuously check the quality of the corrections and to detect the possible presence of mis-modeled biases in the network data. In network-RTK or its state-space implementation, PPP-RTK, quality control of the solutions is executed in two separate phases: the network component and the user component. Once confidence in the network-derived solutions is declared, a subset of the solutions is sent as corrections to a single-receiver user, thereby allowing the user to separately check the integrity of his network-aided model. In such a two-step integrity monitoring procedure, an intermediate step is missing, the integrity monitoring of the corrections themselves. It is the goal of this contribution to provide a quality control procedure for GNSS parameter solutions at the correction level, and to measure the impact a missed detection bias has on the (ambiguity-resolved) user position. New detection test statistics are derived with which the single-receiver user can check the overall validity of the corrections even before applying them to his data. A small-scale network of receivers is utilized to provide numerical insights into the detectability of mis-modeled biases using the proposed detectors and to analyze the impact of such biases on the user positioning performance. Numéro de notice : A2019-195 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s10291-019-0863-x Date de publication en ligne : 14/05/2019 En ligne : https://doi.org/10.1007/s10291-019-0863-x Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=92649
in GPS solutions > vol 23 n° 3 (July 2019)[article]Real-time sea-level monitoring using Kalman filtering of GNSS-R data / Joakim Strandberg in GPS solutions, vol 23 n° 3 (July 2019)PermalinkAn improved robust Kalman filtering strategy for GNSS kinematic positioning considering small cycle slips / Wanke Liu in Advances in space research, vol 63 n° 9 (1 May 2019)PermalinkReal-time GPS satellite orbit and clock estimation based on OpenMP / Kaifa Kuang in Advances in space research, vol 63 n° 8 (15 April 2019)PermalinkBIM-Tracker: A model-based visual tracking approach for indoor localisation using a 3D building model / Debaditya Acharya in ISPRS Journal of photogrammetry and remote sensing, vol 150 (April 2019)PermalinkOn the assimilation of absolute geodetic dynamic topography in a global ocean model: impact on the deep ocean state / Alexey Androsov in Journal of geodesy, vol 93 n° 2 (February 2019)PermalinkOn constrained integrated total Kalman filter for integrated direct geo-referencing / Vahid Mahboub in Survey review, vol 51 n° 364 (January 2019)PermalinkSimultaneous characterization of objects temperature and radiative properties through multispectral infrared thermography / Thibaud Toullier (2019)PermalinkDifferential positioning based on the orthogonal transformation algorithm with GNSS multi-system / Xiao Liang in GPS solutions, vol 22 n° 3 (July 2018)PermalinkGPS receiver phase biases estimable in PPP-RTK networks : dynamic characterization and impact analysis / Baocheng Zhang in Journal of geodesy, vol 92 n° 6 (June 2018)PermalinkDesign and implementation of a model predictive observer for AHRS / Jafar Keighobadi in GPS solutions, vol 22 n° 1 (January 2018)PermalinkNavigation des personnes aux moyens des technologies des smartphones et des données d’environnements cartographiés / Fadoua Taia Alaoui (2018)PermalinkParameter estimation with GNSS-reflectometry and GNSS synthetic aperture techniques / Miguel Angel Ribot Sanfelix (2018)PermalinkTight integration of INS/Stereo VO/Digital map for land vehicle navigation / Fei Liu in Photogrammetric Engineering & Remote Sensing, PERS, vol 84 n° 1 (January 2018)PermalinkUtilisation des réseaux de capteurs Géocubes pour la mesure de déformation des volcans en temps réel par GNSS / Mohamed-Amjad Lasri (2018)PermalinkPermalinkRobust wavelet-based inertial sensor error mitigation for tightly coupled GPS/BDS/INS integration during signal outages / Jian Wang in Survey review, vol 49 n° 357 (December 2017)PermalinkIonospheric and receiver DCB-constrained multi-GNSS single-frequency PPP integrated with MEMS inertial measurements / Zhouzheng Gao in Journal of geodesy, vol 91 n° 11 (November 2017)PermalinkGLONASS inter-frequency phase bias rate estimation by single-epoch or Kalman filter algorithm / Yi Bin Yao in GPS solutions, vol 21 n° 4 (October 2017)PermalinkAssessing the performance of multi-GNSS precise point positioning in Asia-Pacific region / X. Zhao in Survey review, vol 49 n° 354 (September 2017)PermalinkDetermination of the ionospheric foF2 using a stand-alone GPS receiver / Dudy D Wijaya in Journal of geodesy, vol 91 n° 9 (September 2017)PermalinkImproving the modeling of the atmospheric delay in the data analysis of the Intensive VLBI sessions and the impact on the UT1 estimates / Tobias Nilsson in Journal of geodesy, vol 91 n° 7 (July 2017)PermalinkI’m walking here! Checking the accuracy of an inertial-based pedestrian navigation system with a drone / Marcin Uradzinski in GPS world, vol 28 n° 6 (June 2017)PermalinkPermalinkSpringer handbook of Global Navigation Satellite Systems / Peter J.G. Teunissen (2017)PermalinkTélédétection pour l'observation des surfaces continentales, Volume 2. Observation des surfaces continentales par télédétection micro-onde / Nicolas Baghdadi (2017)PermalinkDetermination of a terrestrial reference frame via Kalman filtering of very long baseline interferometry data / Benedikt Soja in Journal of geodesy, vol 90 n° 12 (December 2016)PermalinkAn approach for estimating time-variable rates from geodetic time series / Olga Didova in Journal of geodesy, vol 90 n° 11 (November 2016)PermalinkAssimilation of SMOS retrievals in the land information system / Clay B. Blankenship in IEEE Transactions on geoscience and remote sensing, vol 54 n° 11 (November 2016)PermalinkRecursive orthogonal projection-based simplex growing algorithm / Hsiao-Chi Li in IEEE Transactions on geoscience and remote sensing, vol 54 n° 7 (July 2016)PermalinkA systematic impact assessment of GRACE error correlation on data assimilation in hydrological models / Maike Schumacher in Journal of geodesy, vol 90 n° 6 (June 2016)PermalinkAutonomous relative navigation / Shahram Moafipoor in GPS world, vol 27 n° 4 (April 2016)PermalinkAdaptive GPS/INS integration for relative navigation / Je Young Lee in GPS solutions, vol 20 n° 1 (January 2016)PermalinkPermalinkFusion of space-borne multi-baseline and multi-frequency interferometric results based on extended Kalman filter to generate high quality DEMs / Xiaojie Zhang in ISPRS Journal of photogrammetry and remote sensing, vol 111 (January 2016)PermalinkImproving MEMS-IMU/GPS integrated systems for land vehicle navigation applications / S. Sasani in GPS solutions, vol 20 n° 1 (January 2016)PermalinkVers la prise en compte de la dépendance spatio temporelle des séries de position GNSS dans leur analyse / Clément Benoist (2016)PermalinkTightly coupled integration of GPS precise point positioning and MEMS-based inertial systems / Mahmoud Abd Rabbou in GPS solutions, vol 19 n° 4 (october 2015)PermalinkTracking 3D moving objects based on GPS/IMU navigation solution, laser scanner point cloud and GIS data / Siavash Hosseinyalamdary in ISPRS International journal of geo-information, vol 4 n°3 (September 2015)PermalinkNetwork-based estimation of time-dependent noise in GPS position time series / Ksenia Dimitrieva in Journal of geodesy, vol 89 n° 6 (June 2015)PermalinkNovel integration strategy for GNSS-aided inertial integrated navigation / Kun Qian in Geomatica, vol 69 n° 2 (June 2015)PermalinkKALREF, a Kalman filter and time series approach to the International Terrestrial Reference Frame realization / Xiaoping Wu in Journal of geophysical research : Solid Earth, vol 120 n° 5 (May 2015)PermalinkDevelopment and evaluation of GNSS/INS data processing software for position and orientation systems / X. Niu in Survey review, vol 47 n° 341 (March 2015)PermalinkSequential estimation of surface water mass changes from daily satellite gravimetry data / Guillaume L. Ramilien in Journal of geodesy, vol 89 n° 3 (March 2015)PermalinkAssimilation of GRACE-derived oceanic mass distributions with a global ocean circulation model / J. Saynisch in Journal of geodesy, vol 89 n° 2 (February 2015)PermalinkPermalink