Centre de documentation
scientifique

Dépouillements

A unified cycle-slip, multipath estimation, detection and mitigation method for VIO-aided PPP in urban environments / Bo Xu in GPS solutions, vol 27 n° 2 (April 2023)  

Public [article]  inGPS solutions > vol 27 n° 2 (April 2023) . - n° 59 Titre : A unified cycle-slip, multipath estimation, detection and mitigation method for VIO-aided PPP in urban environments Type de document : Article/Communication Auteurs : Bo Xu, Auteur ; Shoujian Zhang, Auteur ; Kaifa Kuang, Auteur ; et al., Auteur Année de publication : 2023 Article en page(s) : n° 59 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale [Termes IGN] filtre de Kalman [Termes IGN] glissement de cycle [Termes IGN] milieu urbain [Termes IGN] modèle stochastique [Termes IGN] navigation autonome [Termes IGN] navigation inertielle [Termes IGN] odomètre [Termes IGN] phase [Termes IGN] positionnement ponctuel précis [Termes IGN] signal GNSS [Termes IGN] trajet multiple Résumé : (auteur) Accurate, continuous and reliable positioning is required in autonomous driving. The precise point positioning (PPP) technique, which can provide a global accurate positioning service using a single global navigation satellite system (GNSS) receiver, has attracted much attention. Nevertheless, due to the cycle slips and multipath effects in the GNSS signal, the performance of PPP is severely degraded in urban areas, which has a negative effect on the PPP/inertial navigation system (INS)/vision integrated navigation. Moreover, the carrier phase observations with un-modeled multipath cause false detection of small cycle slips and lead to deviation in the state variable estimation in PPP. Therefore, an effective cycle slip/multipath estimation, detection and mitigation (EDM) method is proposed. A clustering method is used to separate the cycle slips and multipath from the carrier phase observations aided by visual inertial odometry (VIO) positioning results. The influence of the carrier phase multipath on state variable estimation is reduced by adjusting the stochastic ambiguity model in the Kalman filter. The proposed EDM method is validated by vehicle experiments conducted in urban and freeway areas. Experimental results demonstrate that 0.2% cycle slip detection error is achieved by our method. Besides, the multipath estimation accuracy of EDM improves by more than 50% compared with the geometry-based (GB) method. Regarding positioning accuracy, the EDM method has a maximum of 72.2% and 63.2% improvement compared to traditional geometry-free (GF) and GB methods. Numéro de notice : A2023-124 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1007/s10291-023-01396-7 Date de publication en ligne : 17/01/2023 En ligne : https://doi.org/10.1007/s10291-023-01396-7 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102501 [article]

From RTK to PPP-RTK: towards real-time kinematic precise point positioning to support autonomous driving of inland waterway vessels / Xiangdong An in GPS solutions, vol 27 n° 2 (April 2023)  

Public [article]  inGPS solutions > vol 27 n° 2 (April 2023) . - n° 86 Titre : From RTK to PPP-RTK: towards real-time kinematic precise point positioning to support autonomous driving of inland waterway vessels Type de document : Article/Communication Auteurs : Xiangdong An, Auteur ; Ralf Ziebold, Auteur ; Christoph Laas, Auteur Année de publication : 2023 Article en page(s) : n° 86 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] filtre de Kalman [Termes IGN] navigation autonome [Termes IGN] navigation fluviale [Termes IGN] positionnement cinématique en temps réel [Termes IGN] positionnement ponctuel précis [Termes IGN] résolution d'ambiguïté [Termes IGN] station GNSS [Termes IGN] temps de convergence Résumé : (auteur) PPP-RTK is Precise Point Positioning (PPP) using corrections from a ground reference network, which enables single-receiver users with integer ambiguity resolution thereby improving its performance. However, most of the PPP-RTK studies are investigated and evaluated in a static situation or a post-processing mode because of the complexity of implementation in real-time practical applications. Moreover, although PPP-RTK achieves a faster convergence than PPP, it typically needs 30 s or even longer to derive high-accuracy results. We have implemented a real-time PPP-RTK approach based on undifferenced observations and State-Space Representation corrections with a fast convergence of less than 30 s to support autonomous driving of inland waterway vessels. The PPP-RTK performances and their feasibility to support autonomous driving have been evaluated and validated in a real-time inland waterway navigation. It proves the PPP-RTK approach can realize a precise positioning of less than 10 cm in horizontal with a rapid convergence. The convergence time is within 10 s after a normal bridge passing and less than 30 s after a complicated bridge passing. Moreover, the PPP-RTK approach can be extended to outside of the GNSS station network. Even if the location is 100 km away from the border of the GNSS station network, the PPP-RTK convergence time after a bridge passing is also normally less than 30 s. We have realized the first automated entry into a waterway lock for a vessel supported by PPP-RTK and taken the first step toward autonomous driving of inland vessels based on PPP-RTK. Numéro de notice : A2023-156 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1007/s10291-023-01428-2 En ligne : https://doi.org/10.1007/s10291-023-01428-2 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102843 [article]

Investigation into the nonlinear Kalman filter to correct the INS/GNSS integrated navigation system / Konstantin Neusypin in GPS solutions, vol 27 n° 2 (April 2023)  

Public [article]  inGPS solutions > vol 27 n° 2 (April 2023) . - n° 91 Titre : Investigation into the nonlinear Kalman filter to correct the INS/GNSS integrated navigation system Type de document : Article/Communication Auteurs : Konstantin Neusypin, Auteur ; Andrey Kupriyanov, Auteur ; Andrey Maslennikov, Auteur ; et al., Auteur Année de publication : 2023 Article en page(s) : n° 91 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] couplage GNSS-INS [Termes IGN] filtrage non linéaire [Termes IGN] filtre adaptatif [Termes IGN] filtre de Kalman [Termes IGN] modèle d'erreur [Termes IGN] positionnement cinématique en temps réel [Termes IGN] système de navigation Résumé : (auteur) The integrated navigation system is the inertial navigation system (INS), corrected by global navigation satellite system (GNSS) data. The correction could be done algorithmically by utilizing nonlinear Kalman filtering (NKF). In practice, the NKF uses an INS error model as an a priori model that is not always adequate to handle the dynamics of the true and unknown INS error model. To eliminate such modeling errors, we propose a new INS/GPS correction approach with modified adaptive NKF. In the proposed NKF, instead of the a priori model, the model constructed during the pre-flight test for a particular INS is used. To realize this, the full algorithm includes an INS error model construction algorithm, a way of reduced measurement generation, and criteria for divergence detection. INS error model construction both during pre-flight test and during flight is done by the group method of data handling (GMDH). Flight experiments were performed for an empirical study of the INS error model and its effect on the total accuracy of computed navigational data. The navigational equipment was installed on the balloon—an airborne radio-transparent object. The results of the experiments validate the effectiveness and accuracy of the proposed INS/GPS correction approach. Numéro de notice : A2022-182 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1007/s10291-023-01433-5 Date de publication en ligne : 21/03/2023 En ligne : https://doi.org/10.1007/s10291-023-01433-5 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102951 [article]

A tropospheric delay model to integrate ERA5 and GNSS reference network for mountainous areas: application to precise point positioning / Cuixian Lu in GPS solutions, vol 27 n° 2 (April 2023)  

Public [article]  inGPS solutions > vol 27 n° 2 (April 2023) . - n° 81 Titre : A tropospheric delay model to integrate ERA5 and GNSS reference network for mountainous areas: application to precise point positioning Type de document : Article/Communication Auteurs : Cuixian Lu, Auteur ; Yaxin Zhong, Auteur ; Zhilu Wu, Auteur ; et al., Auteur Année de publication : 2023 Article en page(s) : n° 81 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications de géodésie spatiale [Termes IGN] Australie [Termes IGN] Continuously Operating Reference Station network [Termes IGN] convergence [Termes IGN] ERA5 [Termes IGN] montagne [Termes IGN] positionnement ponctuel précis [Termes IGN] retard troposphérique [Termes IGN] retard troposphérique zénithal [Termes IGN] station GNSS [Termes IGN] teneur en vapeur d'eau Résumé : (auteur) In this study, a tropospheric delay model that integrates tropospheric delays derived from the European Centre for Medium-Range Weather Forecasts fifth-generation global atmospheric reanalysis and the Continuously Operating Reference Station (CORS) network observations in mountainous areas is established, which is then applied to improve GNSS precise point positioning (PPP). Observations of GNSS stations in the Great Dividing Range of eastern Australia are selected for the experiments. The performance of zenith wet delay (ZWD) retrieved from the integrated tropospheric model is evaluated with comparisons to precise point positioning (PPP) estimated ZWD values. Results show that the average root-mean-square value for ZWDs of the integrated tropospheric model is 8.03 mm for the eastern Australian CORS network, showing an improvement of 14.0% compared to that of the CORS interpolation model. Besides, the proposed tropospheric model is applied to regional augmentation precise positioning. Results present that the average positioning accuracy of the tropospheric model-corrected PPP solutions is 1.42 cm, 1.39 cm and 2.90 cm for the east, north and vertical components, respectively, revealing an improvement of 14.5%, 11.5% and 18.6% compared to the PPP solutions with regional CORS corrections. Meanwhile, almost all stations can achieve a faster solution convergence by performing the integrated tropospheric model-corrected PPP. All these results demonstrate the promising potential of the proposed tropospheric model in enhancing precise positioning as well as facilitating applications in the meteorological fields. Numéro de notice : A2023-183 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s10291-023-01425-5 Date de publication en ligne : 03/03/2023 En ligne : https://doi.org/10.1007/s10291-023-01425-5 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102954 [article]