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Robust 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)  

Public [article]  inSurvey review > vol 49 n° 357 (December 2017) . - pp 419 - 427 Titre : Robust wavelet-based inertial sensor error mitigation for tightly coupled GPS/BDS/INS integration during signal outages Type de document : Article/Communication Auteurs : Jian Wang, Auteur ; Houzeng Han, Auteur ; Xiaolin Meng, Auteur ; et al., Auteur Année de publication : 2017 Article en page(s) : pp 419 - 427 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] BDS-INS [Termes IGN] correction du signal [Termes IGN] double différence [Termes IGN] filtrage du bruit [Termes IGN] filtre de Kalman [Termes IGN] GPS-INS [Termes IGN] méthode robuste Résumé : (auteur) This paper proposes a robust wavelet-based tightly coupled Global Positioning System (GPS)/ Beidou Navigation Satellite System (BDS)/Inertial Navigation System (INS) integration scheme aiming to improve the overall position accuracy during signal outages. A robust wavelet denoising model based on α-trimmed mean filter demonstrates its effectiveness on noise reduction and gross error elimination of inertial sensor raw data. Thereafter, a robust wavelet-based tightly coupled GPS/BDS/INS integration scheme is proposed, and GPS/BDS double-difference (DD) carrier-phase and pseudorange measurements are introduced to build a 27-state tightly coupled GPS/BDS/INS integration equation. The extended Kalman filter (EKF) has been designed for state estimation, and the inclusion of BDS enhances the satellite geometric strength of the whole navigation system. A field vehicle test indicates the position accuracy of five simulated GPS/BDS outages can be improved by about 7, 16, and 33% for north, east, and up components with the proposed scheme compared to standard integration scheme, and gross errors have been detected and eliminated with the new integration scheme. The authors also find that the BDS phase residual is larger than GPS and satellite dependent in the tightly coupled GPS/BDS/INS integrated navigation system. Numéro de notice : A2017-756 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1080/00396265.2016.1190162 En ligne : https://doi.org/10.1080/00396265.2016.1190162 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=89110 [article]

Robust GPS/BDS/INS tightly coupled integration with atmospheric constraints for long-range kinematic positioning / Houzeng Han in GPS solutions, vol 21 n° 3 (July 2017)  

Public [article]  inGPS solutions > vol 21 n° 3 (July 2017) . - pp 1285 – 1299 Titre : Robust GPS/BDS/INS tightly coupled integration with atmospheric constraints for long-range kinematic positioning Type de document : Article/Communication Auteurs : Houzeng Han, Auteur ; Jian Wang, Auteur Année de publication : 2017 Article en page(s) : pp 1285 – 1299 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale [Termes IGN] BDS-INS [Termes IGN] GPS-INS [Termes IGN] incertitude de position [Termes IGN] modèle atmosphérique [Termes IGN] positionnement cinématique [Termes IGN] positionnement inertiel [Termes IGN] résolution d'ambiguïté [Termes IGN] signal BeiDou [Termes IGN] signal GNSS [Termes IGN] système à couplage étroit Résumé : (auteur) The combination of new global navigation satellite system (GNSS) has brought great benefits to reliable positioning and ambiguity resolution (AR), especially in restricted environments. However, kinematic positioning over long ranges is still a challenge due to the presence of significant atmospheric uncertainties, which contaminates the AR process. We present a tightly coupled strategy to integrate GNSS and inertial navigation system (INS) by adding ionospheric and tropospheric delay parameters and extending the stepwise AR by applying the partial ambiguity resolution (PAR) strategy. With the aid of INS predictions, the instantaneous AR can be achieved with the proposed atmospheric prediction model, along with a dual-frequency constraint ambiguity validation test. To remove the faults in both dynamic model and measurement model, a robust innovation filtering algorithm is proposed. A field vehicular test was conducted to validate the positioning performance of the proposed algorithm over long ranges. The results show that a reliable positioning solution is obtainable for the global positioning system (GPS)/BeiDou navigation satellite system (BDS)/INS integration system with baseline larger than 130 km. The average number of fixable ambiguities reaches 14.43 by applying PAR. In addition, the fixing ratio of having fixed more than three ambiguities reaches 98.57%. The results also indicate that the robust innovation filtering can efficiently detect the discrepancies in the filter. Numéro de notice : A2017-446 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1007/s10291-017-0612-y En ligne : https://doi.org/10.1007/s10291-017-0612-y Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=86367 [article]