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

Public 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

Instantaneous estimation of attitude from GNSS / Hendy Fitrian Suhandri (2017)  

Public Titre : Instantaneous estimation of attitude from GNSS Type de document : Thèse/HDR Auteurs : Hendy Fitrian Suhandri, Auteur ; Alfred Kleusberg, Directeur de thèse ; Hasanuddin Zainal Abidin, Directeur de thèse Editeur : Stuttgart : University of Stuttgart Année de publication : 2017 Importance : 143 p. Format : 21 x 30 cm Note générale : Bibliographie thesis accepted by the Faculty of Aerospace Engineering and Geodesy of the University of Stuttgart in partial fulfilment of the requirements for the degree of Doctor of Engineering Sciences (Dr.-Ing.) Langues : Anglais (eng) Descripteur : [Termes IGN] ambiguïté entière [Termes IGN] angle d'Euler [Termes IGN] double différence [Termes IGN] filtre de Kalman [Termes IGN] méthode des moindres carrés [Termes IGN] modèle stochastique [Termes IGN] orientation de véhicule [Termes IGN] positionnement cinématique [Termes IGN] positionnement par GNSS [Termes IGN] récepteur GNSS [Termes IGN] simple différence [Vedettes matières IGN] Traitement de données GNSS Résumé : (auteur) The use of the Global Navigation Satellite System (GNSS) is widely spread from position determination to attitude determination of a platform in space. This system offers time invariant estimation position. Another thing that can be an advantage is that the flexibility to operate the GNSS receiver variants, from the low-cost until the high-performance GNSS receivers. In terms of attitude determination application at least three receivers are required to determine three spatial axes, where the cost-effective GNSS attitude determination systems can be constructed with today’s receiver technology. At the moment, however, algorithms are lacking which are fast and efficient enough to estimate the position angles without delay. For this reason, the present work deals with the development of algorithms for the attitude determination in space of a platform under the help of the "GNSS" Global Positioning System (GPS). The investigation through this work is classified into three sequential parts: The first part is the estimation of the optimal configuration of baseline array as well as the estimation of the integer ambiguity of carrier phase differences. The estimated integer ambiguity is then used to estimate the high precision baseline coordinates. The second part is to estimate the attitude of the platform in space by means of quaternion using batch process, and the last part is to improve the algorithm using a recursive algorithm for the kinematic application purpose. The precise attitude determination about three spatial axes is possible if at least three GNSS receivers with fixed baselines are used in particular array configurations. Assuming that the basic lengths of the baselines are known a priori, the attitude angles can be calculated via the combination of carrier phase and pseudorange observations. Since the carrier of the GPS signal is propagated in short-wave form, the measured phase differences are ambiguous. The multiples of the GPS signal phases together with the baseline lengths are therefore estimated and improved in a first step with the aid of the a priori baseline lengths information. The multiple-baseline float solution estimation method is used. However, the approach does not provide optimal results. Therefore, an alternative algorithm for the float solution is presented, which estimates the float solution by using the socalled the gradient based iterative method of the least-squares. It shows that method is able to give convergent estimate parameter. It is also shown here that the proposed method outperforms the conventional iterative least-squares in terms of iteration number and computational time. For instantaneous applications, the Least-squares AMBiguity Decorrelation Adjustment (LAMBDA) method is not optimal for fixing the integer multiples of the carrier phase differences for several baseline lengths. In addition, this method requires a high computational effort as soon as a larger number of baseline lines enter into the calculation. An improvement in this work is utilising the partial LAMBDA method, which only uses a subset of the integer multiples to be determined. This algorithm improves the determination of integer multiples and precise calculation of the baseline lengths. The advantages of this algorithm are discussed, and it is empirically demonstrated that the ambiguities are better resolved. Furthermore, the estimation of the attitude angles with the aid of quaternions is theoretically improved and analysed. Two processing strategies are investigated: the least-squares method and the Kalman Filter (KF) method. For the static case, the least-squares is applied and tested. Simulations show that the developed gradient based iterative method of the least-squares provides better estimates than the conventional adjustment methods. It is also shown that the number of iterations required is less and the computational time is reduced. This algorithm is not useful for kinematic applications where a fast sequence of results is required. A modified Extended Kalman Filter (EKF)-Like algorithm is used for kinematic applications. Experiments show that with this algorithm more stable quaternions can be calculated with fewer outliers than when they are determined by the least-squares method. All newly developed algorithms are theoretically analysed and subjected to extensive simulations and experimental kinematic tests in the field. Note de contenu : Introduction 1 - General mathematical model of GNSS positioning 2 - Multi-baseline GNSS estimation method 3 - GNSS based attitude determination 4 - Recursive attitude determination 5 - Experimental result of static and kinematic tests 6 - Summary, conclusion and future work suggestion Numéro de notice : 21574 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Thèse étrangère Note de thèse : Doctor thesis : Engineering sciences : Stuttgart : 2017 DOI : 10.18419/opus-9239 En ligne : http://dx.doi.org/10.18419/opus-9239 Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=90576

Improving MEMS-IMU/GPS integrated systems for land vehicle navigation applications / S. Sasani in GPS solutions, vol 20 n° 1 (January 2016)  

Public [article]  inGPS solutions > vol 20 n° 1 (January 2016) . - pp 89 - 100 Titre : Improving MEMS-IMU/GPS integrated systems for land vehicle navigation applications Type de document : Article/Communication Auteurs : S. Sasani, Auteur ; Jamal Asgari, Auteur ; Ali Reza Amiri-Simkooei, Auteur Année de publication : 2016 Article en page(s) : pp 89 - 100 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] attitude and heading reference system AHRS [Termes IGN] filtre de Kalman [Termes IGN] GPS-INS [Termes IGN] microsystème électromécanique [Termes IGN] orientation de véhicule Résumé : (Auteur) The cost of inertial navigation systems (INS) has decreased significantly during recent years using micro-electro-mechanical system technology in production of inertial measurement units (IMUs). However, these IMUs do not provide the accuracy and stability of their classical mechanical counterparts which limit their applications. Hence, the error control of such systems is of the great importance which is achievable using external information via an appropriate fusion algorithm. Traditionally, this external information can be derived from global positioning system (GPS). But it is well known that GPS data availability and accuracy are vulnerable to signal-degrading circumstances and satellite visibility. We introduce a standalone attitude and heading reference system (AHRS) algorithm which employs the IMU and magnetometers data in an averaging manner. The averaging method is different from a simple smoothing procedure, since it takes the rotations of the platform (during the averaging interval) into account. The proposed AHRS solution is further used to provide additional attitude updates with adaptive noise variances for the integrated INS/GPS system during GPS outages via a refined loosely coupled filtering procedure, making the error growth well restrained. Functionality of the algorithm has been assessed via a field test. The results indicate that the proposed procedure outperforms the traditional integration scheme in different situations, while the latter almost loses track of the movements of the vehicle after 60-second GPS outages. Numéro de notice : A2016-604 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1007/s10291-015-0471-3 En ligne : http://dx.doi.org/10.1007/s10291-015-0471-3 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=81803 [article]

Principes de simulation générique d'attitude, note technique n° 3 du centre de compétence "mécanique orbitale" / L. Maisonobe (2001)

Public Titre : Principes de simulation générique d'attitude, note technique n° 3 du centre de compétence "mécanique orbitale" Type de document : Monographie Auteurs : L. Maisonobe, Auteur Mention d'édition : 1 Editeur : Paris, Toulouse, Kourou [France] : Centre National d'Etudes Spatiales CNES Année de publication : 2001 Collection : Note technique du CNES num. 142 Importance : 85 p. Format : 21 x 30 cm Note générale : Bibliographie Langues : Français (fre) Descripteur : [Vedettes matières IGN] Satellites artificiels [Termes IGN] capteur (télédétection) [Termes IGN] orbitographie [Termes IGN] orientation de véhicule [Termes IGN] orientation du capteur [Termes IGN] satellite artificiel [Termes IGN] simulation Numéro de notice : 68825 Affiliation des auteurs : non IGN Thématique : IMAGERIE/POSITIONNEMENT Nature : Monographie Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=62021

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Code-barres	Cote	Support	Localisation	Section	Disponibilité
68825-02	21.20	Livre	Centre de documentation	Technologies spatiales	Disponible
68825-01	21.20	Livre	Centre de documentation	Technologies spatiales	Disponible

Détermination de l'attitude d'un véhicule à l'aide du système GPS / Sylvain Babineau in Geomatica, vol 51 n° 2 (June 1997)  

Public [article]  inGeomatica > vol 51 n° 2 (June 1997) . - pp 121 - 132 Titre : Détermination de l'attitude d'un véhicule à l'aide du système GPS Type de document : Article/Communication Auteurs : Sylvain Babineau, Auteur ; Rock Santerre, Auteur Année de publication : 1997 Article en page(s) : pp 121 - 132 Note générale : Bibliographie Langues : Français (fre) Descripteur : [Vedettes matières IGN] Géodésie spatiale [Termes IGN] GPS en mode cinématique [Termes IGN] GPS en mode statique [Termes IGN] logiciel de simulation [Termes IGN] orientation de véhicule [Termes IGN] positionnement statique [Termes IGN] véhicule spatial Résumé : (Auteur) L'article porte sur la détermination de l'attitude (orientation dans l'espace) d'un véhicule en mouvement à l'aide du système de positionnement par satellites GPS. Une description de la théorie de l'attitude ainsi qu'une analyse, à l'aide d'un logiciel de simulations, des paramètres affectant la précision des angles d'attitude sont présentées. Ces paramètres sont : i) la distribution des satellites et le masque d'élévation; ii) la configuration des antennes; iii) l'estimation des paramètres d'horloge des récepteurs. Des résultats de différents tests terrain, en modes statique et cinématique, sont également présentés et analysés. Ces tests ont permis de démontrer que les précisions des résultats des tests terrain sont comparables à celles estimées des simulations. Les précisions des angles d'attitude (roulis, tangage et azimut) tirées de ces analyses varient typiquement entre 0,1° à 0,4° (à un niveau de probabilité de 95%) pour des séparations entre les antennes d'environ 1m. Un capteur d'orientation GPS peut être utile dans de multiples applications en géomatique, tels que les levés photogrammétriques, de télédétection aéroportés et hydrographiques. Numéro de notice : A1997-006 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.5623/geomat-1997-0019 En ligne : https://cdnsciencepub.com/doi/abs/10.5623/geomat-1997-0019 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=25967 [article]

Exemplaires(1)

Code-barres	Cote	Support	Localisation	Section	Disponibilité
035-97021	RAB	Revue	Centre de documentation	En réserve L003	Disponible

Etude de méthodes de corrélation optimales avec apprentissage pour la reconnaissance des formes et applications à la détermination d'attitude d'avions / J. Figue (1993)

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Systèmes inertiels à composants liés - strap-down / Jean-Claude Radix (1993)

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L'attitude des satellites d'observation de la Terre / P. Duchon (05/06/1979)

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Mouvement du véhicule spatial et influence sur la qualité géométrique des images : présentation générale / Jean-Pierre Carrou (1979)

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Qualité géométrique des images des capteurs à balayage / R. Rosso (1979)

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Techniques inertielles / Jean-Claude Radix (1972)

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