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Auteur Yunbin Yuan |
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Affiner la recherche Interroger des sources externesA method of vision aided GNSS positioning using semantic information in complex urban environment / Rui Zhai in Remote sensing, vol 14 n° 4 (February-2 2022)
Titre : A method of vision aided GNSS positioning using semantic information in complex urban environment Type de document : Article/Communication Auteurs : Rui Zhai, Auteur ; Yunbin Yuan, Auteur Année de publication : 2022 Article en page(s) : n° 869 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] apprentissage profond
[Termes IGN] cartographie et localisation simultanées
[Termes IGN] centrale inertielle
[Termes IGN] filtre de Kalman
[Termes IGN] GNSS assisté pour la navigation
[Termes IGN] information sémantique
[Termes IGN] milieu urbain
[Termes IGN] positionnement cinématique en temps réel
[Termes IGN] positionnement par GNSS
[Termes IGN] segmentation sémantique
[Termes IGN] système de numérisation mobile
[Termes IGN] vision par ordinateurRésumé : (auteur) High-precision localization through multi-sensor fusion has become a popular research direction in unmanned driving. However, most previous studies have performed optimally only in open-sky conditions; therefore, high-precision localization in complex urban environments required an urgent solution. The complex urban environments employed in this study include dynamic environments, which result in limited visual localization performance, and highly occluded environments, which yield limited global navigation satellite system (GNSS) performance. In order to provide high-precision localization in these environments, we propose a vision-aided GNSS positioning method using semantic information by integrating stereo cameras and GNSS into a loosely coupled navigation system. To suppress the effect of dynamic objects on visual positioning accuracy, we propose a dynamic-simultaneous localization and mapping (Dynamic-SLAM) algorithm to extract semantic information from images using a deep learning framework. For the GPS-challenged environment, we propose a semantic-based dynamic adaptive Kalman filtering fusion (S-AKF) algorithm to develop vision aided GNSS and achieve stable and high-precision positioning. Experiments were carried out in GNSS-challenged environments using the open-source KITTI dataset to evaluate the performance of the proposed algorithm. The results indicate that the dynamic-SLAM algorithm improved the performance of the visual localization algorithm and effectively suppressed the error spread of the visual localization algorithm. Additionally, after vision was integrated, the loosely-coupled navigation system achieved continuous high-accuracy positioning in GNSS-challenged environments. Numéro de notice : A2022-167 Affiliation des auteurs : non IGN Thématique : IMAGERIE/POSITIONNEMENT Nature : Article DOI : 10.3390/rs14040869 Date de publication en ligne : 11/02/2022 En ligne : https://doi.org/10.3390/rs14040869 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=99792
in Remote sensing > vol 14 n° 4 (February-2 2022) . - n° 869[article]
Titre : A multi-frequency and multi-GNSS method for the retrieval of the ionospheric TEC and intraday variability of receiver DCBs Type de document : Article/Communication Auteurs : Min Li, Auteur ; Yunbin Yuan, Auteur ; Xiao Zhang, Auteur ; et al., Auteur Année de publication : 2020 Article en page(s) : 14 p. Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications de géodésie spatiale
[Termes IGN] erreur systématique
[Termes IGN] fréquence multiple
[Termes IGN] modèle ionosphérique
[Termes IGN] positionnement différentiel
[Termes IGN] positionnement par BeiDou
[Termes IGN] récepteur GNSS
[Termes IGN] teneur totale en électrons
[Termes IGN] variation diurneRésumé : (auteur) As one of the important factors influencing the ionospheric total electron content (TEC) estimation accuracy, receiver differential code biases (DCBs) should be properly removed from global navigation satellite system (GNSS) measurements. The intraday variability in receiver DCBs (rDCBs), which is usually ignored in the commonly used ionospheric observable retrieval procedure, has been identified as one of the major errors degrading the accuracy of TEC estimation. The modified carrier-to-code leveling (MCCL) method can be adopted to eliminate the impact of the rDCB variability on the retrieval of the ionospheric TEC from dual-frequency (DF) GNSS observations. In this contribution, we extend the MCCL method from two aspects. First, the DF MCCL method is adapted to the multi-frequency (MF) case, in which DF, triple-frequency or even arbitrary-frequency observations can be readily processed to simultaneously estimate both the ionospheric TEC and rDCB variations. Second, the MCCL method is refined to enable the handling of GLONASS data by accounting for the effects of code inter-frequency biases induced by the frequency division multiple access (FDMA) technology. Based on the test results, the retrieval accuracy of the ionospheric TEC using our proposed method can be improved from 9.47 TECu to 2.67 TECu in the presence of significant intraday rDCB variations. We discovered that the maximum difference in the rDCB variations of the same satellite system between different frequency bands can be as large as 10 ns. The dependence of multi-GNSS and MF rDCB variations on the ambient temperature is further verified in this study. The results show that the temperature dependence of rDCB varies among different satellite systems and frequency bands. Compared to the Galileo, GPS and GLONASS satellite systems, the Beidou system (BDS) rDCB estimates exhibit a stronger correlation with the measured temperature. The percentages of stations with the mean absolute Pearson correlation coefficient value above 0.8 are 27.17% for GPS, 30.58% for GLONASS, 43.78% for BDS and 33.9% for Galileo, respectively. Numéro de notice : A2020-650 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-020-01437-w Date de publication en ligne : 12/10/2020 En ligne : https://doi.org/10.1007/s00190-020-01437-w Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=96083
in Journal of geodesy > vol 94 n° 10 (October 2020) . - 14 p.[article]
Titre : A single-receiver geometry-free approach to stochastic modeling of multi-frequency GNSS observables Type de document : Article/Communication Auteurs : Baocheng Zhang, Auteur ; Pengyu Hou, Auteur ; Teng Liu, Auteur ; Yunbin Yuan, Auteur Année de publication : 2020 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement
[Termes IGN] analyse de variance
[Termes IGN] corrélation croisée normalisée
[Termes IGN] corrélation temporelle
[Termes IGN] fréquence multiple
[Termes IGN] méthode des moindres carrés
[Termes IGN] méthode robuste
[Termes IGN] modèle stochastique
[Termes IGN] positionnement ponctuel précis
[Termes IGN] récepteur
[Termes IGN] traitement de données GNSS
[Termes IGN] trajet multipleRésumé : (auteur) The proper choice of stochastic model is of great importance to global navigation satellite system (GNSS) data processing. Whereas extensive investigations into stochastic modeling are mainly based on the relative (or differential) method employing zero and/or short baselines, this work proposes an absolute method that relies upon a stand-alone receiver and works by applying the least-squares variance component estimation to the geometry-free functional model, thus facilitating the characterization of stochastic properties of multi-frequency GNSS observables at the undifferenced level. In developing the absolute method, special care has been taken of the code multipath effects by introducing ambiguity-like parameters to the code observation equations. By means of both the relative and absolute methods, we characterize the precision, cross and time correlation of the code and phase observables of two newly emerging constellations, namely the Chinese BDS and the European Galileo, collected by a variety of receivers of different types at multiple frequencies. Our first finding is that so far as the precision is concerned, the absolute method yields nearly the same numerical values as those derived by the zero-baseline-based relative method. However, the two methods give contradictory results with regard to the cross correlation, which is found (not) to occur between BDS phase observables when use has been made of the relative (absolute) method. Our explanation to this discrepancy is that the cross correlation found in the relative method originates from the parts (antenna, cable, low noise amplifier) shared by two receivers creating a zero baseline. The time correlation is only of significance when the multipath effects are present, as is the case with the short-baseline-based relative method; this correlation turns out to be largely weaker (or ideally absent) in the absolute (or zero-baseline-based relative) method. Moreover, with the absolute method, the stochastic properties determined for two receivers of the same type but subject to different multipath effects are virtually the same. We take this as a convincing evidence that the absolute method is robust against multipath effects. Hence, the absolute method proposed in the present work represents a promising complement to the relative method and appears to be particularly beneficial to GNSS positioning, navigation and timing technologies based on the undifferenced observables, typically the precise point positioning. Numéro de notice : A2020-160 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-020-01366-8 Date de publication en ligne : 09/03/2020 En ligne : https://doi.org/10.1007/s00190-020-01366-8 Format de la ressource électronique : url article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=94817
in Journal of geodesy > vol 94 n°4 (April 2020)[article]
Titre : PPP-RTK based on undifferenced and uncombined observations: theoretical and practical aspects Type de document : Article/Communication Auteurs : Baocheng Zhang, Auteur ; Yongchang Chen, Auteur ; Yunbin Yuan, Auteur Année de publication : 2019 Article en page(s) : pp 1011 - 1024 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale
[Termes IGN] ambiguïté entière
[Termes IGN] données GNSS
[Termes IGN] mesurage de phase
[Termes IGN] positionnement cinématique en temps réel
[Termes IGN] positionnement par GNSS
[Termes IGN] positionnement ponctuel précis
[Termes IGN] série temporelleRésumé : (auteur) A synthesis of two prevailing global navigation satellite system positioning technologies, namely the precise point positioning and the network-based real-time kinematic, results in the emergence of the PPP-RTK, enabling single-receiver users to achieve high positioning accuracy with reasonable timeliness through integer ambiguity resolution. The realization of PPP-RTK needs to accomplish two sequential tasks. The first task is to determine a class of corrections including, among others, the satellite phase biases (SPBs) at the network level. With these corrections, the second task, then, is to solve for the ambiguity-fixed, absolute position at the user level. In this contribution, we revisit three variants (geometry-free, geometry-fixed and geometry-plus-satellite-clock-fixed) of the undifferenced and uncombined PPP-RTK network model and then point out their implications for practical use. We also carry out a case study using multi-day, dual-frequency global positioning system data from the crustal movement observation network of China stations, aiming to figure out what are the most appropriate linear combinations of the SPBs to be transmitted to the users from the viewpoint of decorrelation, and to assess the static and kinematic positioning performance. Numéro de notice : A2019-357 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-018-1220-5 Date de publication en ligne : 06/12/2018 En ligne : https://doi.org/10.1007/s00190-018-1220-5 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=93425
in Journal of geodesy > vol 93 n°7 (July 2019) . - pp 1011 - 1024[article]
Titre : Real-Time Precise Point Positioning (RTPPP) with raw observations and its application in real-time regional ionospheric VTEC modeling Type de document : Article/Communication Auteurs : Teng Liu, Auteur ; Baocheng Zhang, Auteur ; Yunbin Yuan, Auteur ; Min Li, Auteur Année de publication : 2018 Article en page(s) : pp 1267 - 1283 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Applications de géodésie spatiale
[Termes IGN] modèle ionosphérique
[Termes IGN] positionnement ponctuel précis
[Termes IGN] retard ionosphèrique
[Termes IGN] temps réel
[Termes IGN] teneur verticale totale en électronsRésumé : (Auteur) Precise Point Positioning (PPP) is an absolute positioning technology mainly used in post data processing. With the continuously increasing demand for real-time high-precision applications in positioning, timing, retrieval of atmospheric parameters, etc., Real-Time PPP (RTPPP) and its applications have drawn more and more research attention in recent years. This study focuses on the models, algorithms and ionospheric applications of RTPPP on the basis of raw observations, in which high-precision slant ionospheric delays are estimated among others in real time. For this purpose, a robust processing strategy for multi-station RTPPP with raw observations has been proposed and realized, in which real-time data streams and State-Space-Representative (SSR) satellite orbit and clock corrections are used. With the RTPPP-derived slant ionospheric delays from a regional network, a real-time regional ionospheric Vertical Total Electron Content (VTEC) modeling method is proposed based on Adjusted Spherical Harmonic Functions and a Moving-Window Filter. SSR satellite orbit and clock corrections from different IGS analysis centers are evaluated. Ten globally distributed real-time stations are used to evaluate the positioning performances of the proposed RTPPP algorithms in both static and kinematic modes. RMS values of positioning errors in static/kinematic mode are 5.2/15.5, 4.7/17.4 and 12.8/46.6 mm, for north, east and up components, respectively. Real-time slant ionospheric delays from RTPPP are compared with those from the traditional Carrier-to-Code Leveling (CCL) method, in terms of function model, formal precision and between-receiver differences of short baseline. Results show that slant ionospheric delays from RTPPP are more precise and have a much better convergence performance than those from the CCL method in real-time processing. 30 real-time stations from the Asia-Pacific Reference Frame network are used to model the ionospheric VTECs over Australia in real time, with slant ionospheric delays from both RTPPP and CCL methods for comparison. RMS of the VTEC differences between RTPPP/CCL method and CODE final products is 0.91/1.09 TECU, and RMS of the VTEC differences between RTPPP and CCL methods is 0.67 TECU. Slant Total Electron Contents retrieved from different VTEC models are also validated with epoch-differenced Geometry-Free combinations of dual-frequency phase observations, and mean RMS values are 2.14, 2.33 and 2.07 TECU for RTPPP method, CCL method and CODE final products, respectively. This shows the superiority of RTPPP-derived slant ionospheric delays in real-time ionospheric VTEC modeling. Numéro de notice : A2018-463 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-018-1118-2 Date de publication en ligne : 29/01/2018 En ligne : https://doi.org/10.1007/s00190-018-1118-2 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=91062
in Journal of geodesy > vol 92 n° 11 (November 2018) . - pp 1267 - 1283[article]PermalinkPermalinkPermalinkPermalinkPermalinkPermalinkPermalinkPermalink
