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Improving smartphone-based GNSS positioning using state space augmentation techniques / Francesco Darugna (2021)  

Public Titre : Improving smartphone-based GNSS positioning using state space augmentation techniques Type de document : Thèse/HDR Auteurs : Francesco Darugna, Auteur ; Steffen Schön, Directeur de thèse Editeur : Munich : Bayerische Akademie der Wissenschaften Année de publication : 2021 Collection : DGK - C, ISSN 0065-5325 num. 864 Importance : 189 p. Note générale : bibliographie Diese Arbeit ist gleichzeitig veröffentlicht in:Wissenschaftliche Arbeiten der Fachrichtung Geodäsie und Geoinformatik der Universität Hannover - ISSN 0174-1454, Nr. 368, Hannover 2021 Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] antenne GNSS [Termes IGN] étalonnage d'instrument [Termes IGN] positionnement par GNSS [Termes IGN] retard troposphérique zénithal [Termes IGN] téléphone intelligent Résumé : (auteur) Low-cost receivers providing Global Navigation Satellite System (GNSS) pseudorange and carrier phase raw measurements for multiple frequencies and multiple GNSS constellations have become available on the market in the last years. This significantly has increased the number of devices equipped with the necessary sensors to perform precise GNSS positioning. GNSS pseudorange and carrier phase are used to compute user positions. While both observations are affected by different error sources, e.g. the passage through the atmosphere, only the carrier-phase has an ambiguous nature. The resolution of this ambiguity is a crucial factor to reach fast and highly precise GNSS-based positioning. Currently, several smartphones are equipped with a dual-frequency, multi-constellation receiver. The access to Android-based GNSS raw measurements has become a strong motivation to investigate the feasibility of smartphone-based high-accuracy positioning. The quality of smartphone GNSS measurements has been analyzed, suggesting that they often suffer from low signal-to-noise, inhomogeneous antenna gain and high levels of multipath. This workshows how to tackle several of the currently present obstacles and demonstrates centimeter-level positioning with a low-cost GNSS antenna and a low-cost GNSS receiver built into an off-the-shelf smartphone. Since the beginning of the research in smartphone-based positioning, the device’s GNSS antenna has been recognized as one of the main limitations. Besides Multipath (MP), the antenna radiation pattern is the main site-dependent error source of GNSS observations. An absolute antenna calibration has been performed for the dual-frequency smartphone HuaweiMate20X. Antenna Phase Center Offset (PCO), and Variations (PCV ) have been estimated to correct for the antenna impact on the L1 and L5 phase observations. Accordingly, the relevance of considering the individual PCO and PCV for the two frequencies is shown. The PCV patterns indicate absolute values up to 2 cm and 4 cm for L1 and L5, respectively. The impactof antenna corrections has been assessed in different multipath environments using a high-accuracy positioning algorithm employing an uncombined observation model and applying Ambiguity Resolution (AR). Experiments both in zero-baseline and short-baseline configurations have been performed. Instantaneous AR in the zero-baseline setup has been demonstrated, showing the potential for cm-level positioning with low-cost sensors available inside smartphones. In short-baselines configurations, no reliable AR is achieved without antenna corrections. However, after correcting for PCV, successful AR is demonstrated for a smartphone placed in a low multipath environment on the ground of a soccer field. For a rooftop open-skytest case with large multipath, AR was successful in 19 out of 35 data-sets. Overall, the antenna calibration is demonstrated being an asset for smartphone-based positioning with AR,showing cm-level 2D Root Mean Square Error (RMSE). In GNSS-based positioning, a user within a region covered by a network of reference stations can take advantage of the network-estimated augmentation parameters. Among the GNSS error sources, atmospheric delays have a strong impact on the positioning performance and the ability to resolve ambiguities. State Space Representation (SSR) atmospheric corrections, i.e. tropospheric and ionospheric delays, are commonly estimated for the approximate user position by interpolation from values calculated for the reference stations. Widely used interpolation techniques are Inverse Distance Weighted (IDW), Ordinary Kriging (OK)and Weighted Least Squares (WLS). The interpolation quality of such techniques during severe weather events and Traveling Ionospheric Disturbances (TIDs) is analyzed. To improve the interpolation performance during such events, modified WLS methods taking advantage of the physical atmospheric behavior are proposed. To support this interpolation approach, external information from Numerical Weather Models (NWM) for tropospheric interpolation and from TID modeling for ionospheric interpolation is introduced to the algorithms. The interpolation is assessed using simulated data (considering artificial and real network geometries), and real SSR parameters generated by network computation of GNSS measurements. As examples, two severe weather events in northern Europe in 2017 and one TID eventover Japan in 2019 have been analyzed. The interpolation of SSR Zenith Tropospheric Delay(ZTD) and ionospheric parameters is evaluated. Considering the reference station positions as rover locations, the modified WLS approach marks a lower RMSE in up to 80% of the cases during sharp weather fluctuations. Also, the average error can be decreased in 64% of the cases during the TID event investigated. Improvements up to factors larger than two are observed. Furthermore, specific cases are isolated, showing particular ZTD variations where significant errors (e.g. larger than 1 cm) can be reduced by up to 20% of the total amount. As a final product of the analysis, tropospheric and ionospheric messages are proposed. The messages contain the information needed to implement the suggested interpolation. Along with the need for accurate atmospheric models, the concept of consistency in the SSR corrections is crucial. A format that can transport all the SSR corrections estimated by a network is the Geo++ SSR format (SSRZ). Exploiting the features of the SSRZ format, the impact of an error in the transported ionospheric parameters is investigated. It is shown that the position estimation strongly depends on the ionospheric modeling and mismodeling can result in cm level errors, especially in the height component. Numéro de notice : 17182 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Thèse étrangère Note de thèse : Thesis : Geodäsie und Geoinformatik : Hanovre : 2021 En ligne : https://dgk.badw.de/fileadmin/user_upload/Files/DGK/docs/c-864.pdf Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=98000

Performance of miniaturized atomic clocks in static laboratory and dynamic flight environments / Ankit Jain in GPS solutions, vol 25 n° 1 (January 2021)  

Public [article]  inGPS solutions > vol 25 n° 1 (January 2021) . - 16 p. Titre : Performance of miniaturized atomic clocks in static laboratory and dynamic flight environments Type de document : Article/Communication Auteurs : Ankit Jain, Auteur ; Thomas Krawinkel, Auteur ; Steffen Schön, Auteur ; Andreas Bauch, Auteur Année de publication : 2021 Article en page(s) : 16 p. Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale [Termes IGN] décalage d'horloge [Termes IGN] fréquence [Termes IGN] horloge atomique [Termes IGN] horloge du récepteur [Termes IGN] oscillateur [Termes IGN] récepteur GNSS [Termes IGN] stabilité [Termes IGN] variance d'Allan Résumé : (auteur) Miniaturized atomic clocks with high frequency stability as local oscillators in global navigation satellite system (GNSS) receivers promise to improve real-time kinematic applications. For a number of years, such oscillators are being investigated regarding their overall technical applicability, i.e., transportability, and performance in dynamic environments. The short-term frequency stability of these clocks is usually specified by the manufacturer, being valid for stationary applications. Since the performance of most oscillators is likely degraded in dynamic conditions, various oscillators are tested to find the limits of receiver clock modeling in dynamic cases and consequently derive adequate stochastic models to be used in navigation. We present the performance of three different oscillators (Microsemi MAC SA.35m, Spectratime LCR-900 and Stanford Research Systems SC10) for static and dynamic applications. For the static case, all three oscillators are characterized in terms of their frequency stability at Physikalisch-Technische Bundesanstalt, Germany's national metrology institute. The resulting Allan deviations agree well with the manufacturer's data. Furthermore, a flight experiment was conducted in order to evaluate the performance of the oscillators under dynamic conditions. Here, each oscillator is replacing the internal oscillator of a geodetic-grade GNSS receiver and the stability of the receiver clock biases is determined. The time and frequency offsets of the oscillators are characterized with regard to the flight dynamics recorded by a navigation-grade inertial measurement unit. The results of the experiment show that the frequency stability of each oscillator is degraded by about at least one order of magnitude compared to the static case. Also, the two quartz oscillators show a significant g-sensitivity resulting in frequency shifts of − 1.2 × 10−9 and + 1.5 × 10−9, respectively, while the rubidium clocks are less sensitive, thus enabling receiver clock modeling and strengthening of the navigation performance even in high dynamics. Numéro de notice : A2021-003 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s10291-020-01036-4 Date de publication en ligne : 13/10/2020 En ligne : https://doi.org/10.1007/s10291-020-01036-4 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=96081 [article]

The stochastic model for Global Navigation Satellite Systems and terrestrial laser scanning observations: A proposal to account for correlations in least squares adjustment / Gaël Kermarrec in Journal of applied geodesy, vol 13 n° 2 (April 2019)  

Public [article]  inJournal of applied geodesy > vol 13 n° 2 (April 2019) . - pp 93 - 104 Titre : The stochastic model for Global Navigation Satellite Systems and terrestrial laser scanning observations: A proposal to account for correlations in least squares adjustment Type de document : Article/Communication Auteurs : Gaël Kermarrec, Auteur ; Ingo Neumann, Auteur ; Hamza Alkhatib, Auteur ; Steffen Schön, Auteur Année de publication : 2019 Article en page(s) : pp 93 - 104 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Acquisition d'image(s) et de donnée(s) [Termes IGN] analyse de variance [Termes IGN] compensation par faisceaux [Termes IGN] compensation par moindres carrés [Termes IGN] données lidar [Termes IGN] données localisées 3D [Termes IGN] matrice [Termes IGN] modèle stochastique Résumé : (Auteur) The best unbiased estimates of unknown parameters in linear models have the smallest expected mean-squared errors as long as the residuals are weighted with their true variance–covariance matrix. As this condition is rarely met in real applications, the least-squares (LS) estimator is less trustworthy and the parameter precision is often overoptimistic, particularly when correlations are neglected. A careful description of the physical and mathematical relationships between the observations is, thus, necessary to reach a realistic solution and unbiased test statistics. Global Navigation Satellite Systems and terrestrial laser scanners (TLS) measurements show similarities and can be both processed in LS adjustments, either for positioning or deformation analysis. Thus, a parallel between stochastic models for Global Navigation Satellite Systems observations proposed previously in the case of correlations and functions for TLS range measurements based on intensity values can be drawn. This comparison paves the way for a simplified way to account for correlations for a use in LS adjustment. Numéro de notice : A2019-144 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1515/jag-2018-0019 Date de publication en ligne : 24/01/2019 En ligne : https://doi.org/10.1515/jag-2018-0019 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=92471 [article]

GPS code phase variations (CPV) for GNSS receiver antennas and their effect on geodetic parameters and ambiguity resolution / Tobias Kersten in Journal of geodesy, vol 91 n° 6 (June 2017)  

Public [article]  inJournal of geodesy > vol 91 n° 6 (June 2017) . - pp 579 - 596 Titre : GPS code phase variations (CPV) for GNSS receiver antennas and their effect on geodetic parameters and ambiguity resolution Type de document : Article/Communication Auteurs : Tobias Kersten, Auteur ; Steffen Schön, Auteur Année de publication : 2017 Article en page(s) : pp 579 - 596 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Termes IGN] antenne GNSS [Termes IGN] centre de phase [Termes IGN] erreur de mesure [Termes IGN] phase GNSS [Termes IGN] résolution d'ambiguïté [Vedettes matières IGN] Traitement de données GNSS Résumé : (Auteur) Precise navigation and geodetic coordinate determination rely on accurate GNSS signal reception. Thus, the receiver antenna properties play a crucial role in the GNSS error budget. For carrier phase observations, a spherical radiation pattern represents an ideal receiver antenna behaviour. Deviations are known as phase centre corrections. Due to synergy of carrier and code phase, similar effects on the code exist named code phase variations (CPV). They are mainly attributed to electromagnetic interactions of several active and passive elements of the receiver antenna. Consequently, a calibration and estimation strategy is necessary to determine the shape and magnitudes of the CPV. Such a concept was proposed, implemented and tested at the Institut für Erdmessung. The applied methodology and the obtained results are reported and discussed in this paper. We show that the azimuthal and elevation-dependent CPV can reach maximum magnitudes of 0.2–0.3 m for geodetic antennas and up to maximum values of 1.8 m for small navigation antennas. The obtained values are validated by dedicated tests in the observation and coordinate domain. As a result, CPV are identified to be antenna- related properties that are independent from location and time of calibration. Even for geodetic antennas when forming linear combinations the CPV effect can be amplified to values of 0.4–0.6 m. Thus, a significant fractional of the Melbourne–Wübbena linear combination. A case study highlights that incorrect ambiguity resolution can occur due to neglecting CPV corrections. The impact on the coordinates which may reach up to the dm level is illustrated. Numéro de notice : A2017-285 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-016-0984-8 En ligne : http://dx.doi.org/10.1007/s00190-016-0984-8 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=85318 [article]

Geodetic monitoring of subrosion-induced subsidence processes in urban areas / Tobias Kersten in Journal of applied geodesy, vol 11 n° 1 (March 2017)  

Public [article]  inJournal of applied geodesy > vol 11 n° 1 (March 2017) . - pp 21 - 30 Titre : Geodetic monitoring of subrosion-induced subsidence processes in urban areas Type de document : Article/Communication Auteurs : Tobias Kersten, Auteur ; Martin Kobe, Auteur ; Gerald Gabriel, Auteur ; Ludger Timmen, Auteur ; Steffen Schön, Auteur ; Detlef Vogel, Auteur Année de publication : 2017 Article en page(s) : pp 21 - 30 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications de géodésie spatiale [Termes IGN] église [Termes IGN] gravimétrie [Termes IGN] Hambourg [Termes IGN] nivellement [Termes IGN] positionnement par GNSS [Termes IGN] réseau de surveillance géophysique [Termes IGN] subsidence [Termes IGN] surveillance géologique [Termes IGN] Thuringe [Termes IGN] tour (bâtiment) [Termes IGN] zone urbaine Résumé : (Résumé) The research project SIMULTAN applies an advanced combination of geophysical, geodetic, and modelling techniques to gain a better understanding of the evolution and characteristics of sinkholes. Sinkholes are inherently related to surface deformation and, thus, of increasing societal relevance, especially in dense populated urban areas. One work package of SIMULTAN investigates an integrated approach to monitor sinkhole-related mass translations and surface deformations induced by salt dissolution. Datasets from identical and adjacent points are used for a consistent combination of geodetic and geophysical techniques. Monitoring networks are established in Hamburg and Bad Frankenhausen (Thuringia). Levelling surveys indicate subsidence rates of about 4–5 mm per year in the main subsidence areas of Bad Frankenhausen with a local maximum of 10 mm per year around the leaning church tower. Here, the concept of combining geodetic and gravimetric techniques to monitor and characterise geological processes on and below the Earth's surface is exemplary discussed for the focus area Bad Frankenhausen. For the different methods (levelling, GNSS, relative/absolute gravimetry) stable network results at identical points are obtained by the first campaigns, i.e., the results are generally in agreement. Numéro de notice : A2017-281 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1515/jag-2016-0029 En ligne : https://doi.org/10.1515/jag-2016-0029 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=85314 [article]

Better GNSS navigation and spoofing detection with chip scale-atomic clocks / Thomas Krawinkel in GPS world, vol 27 n° 10 (October 2016)

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Taking correlations in GPS least squares adjustments into account with a diagonal covariance matrix / Gaël Kermarrec in Journal of geodesy, vol 90 n° 9 (September 2016)  

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Potential of GPS common clock single-differences for deformation monitoring / Steffen Schön in Journal of applied geodesy, vol 10 n° 1 (March 2016)  

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