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Kalman-filter-based undifferenced cycle slip estimation in real-time precise point positioning / Pan Li in GPS solutions, vol 23 n° 4 (October 2019)  

Public [article]  inGPS solutions > vol 23 n° 4 (October 2019) Titre : Kalman-filter-based undifferenced cycle slip estimation in real-time precise point positioning Type de document : Article/Communication Auteurs : Pan Li, Auteur ; Xinyuan Jiang, Auteur ; Xiaohong Zhang, Auteur ; et al., Auteur Année de publication : 2019 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale [Termes descripteurs IGN] filtre de Kalman [Termes descripteurs IGN] glissement de cycle [Termes descripteurs IGN] interruption du signal [Termes descripteurs IGN] mesurage de phase [Termes descripteurs IGN] modèle mathématique [Termes descripteurs IGN] positionnement cinématique [Termes descripteurs IGN] positionnement ponctuel précis [Termes descripteurs IGN] précision du positionnement [Termes descripteurs IGN] station GLONASS [Termes descripteurs IGN] station GPS [Termes descripteurs IGN] temps réel Résumé : (Auteur) Global navigation satellite system (GNSS) precise point positioning (PPP) requires continuous carrier-phase observations to achieve a solution of high precision. Precisely correcting cycle slips caused by signal interruptions is crucial for recovering the data continuity. Most of the existing approaches usually employ only data of one epoch after the interruption for real-time cycle slip processing. In this study, we propose to introduce and estimate cycle slip parameters together with standard PPP parameters, such as position, ionospheric delay, and ambiguities in the case that possible cycle slips are detected, using a Kalman-filter-based procedure with the undifferenced and uncombined PPP model. The integer search strategy is used to fix cycle slips. To reduce the probability of wrong integer fixing, a strict integer validation threshold is suggested. As a result, it is not easy to fix all cycle slips with only one epoch of data. Our approach can be easily extended to use multi-epoch observations to enhance the cycle slip estimation. Once the cycle slips are correctly determined, continuous PPP can be achieved instantaneously. This new approach is tested and validated with three groups of experiments using GPS and GLONASS stations operated by the International GNSS Service from DOY 1–10, 2017, and a real vehicle kinematic data. Numerous experimental results showed that the proposed method can correctly fix the cycle slips for more than 99.5% of epochs suffering from re-convergence. On average, this method takes observation information from about 1.5–2.5 epochs to fix cycle slips and realize rapid re-convergence. Consequently, positioning performance is significantly improved. Numéro de notice : A2019-334 Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s10291-019-0894-3 date de publication en ligne : 16/07/2019 En ligne : https://doi.org/10.1007/s10291-019-0894-3 Format de la ressource électronique : URL Article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=93423 [article]

Robust M–M unscented Kalman filtering for GPS/IMU navigation / Cheng Yang in Journal of geodesy, vol 93 n°8 (August 2019)  

Public [article]  inJournal of geodesy > vol 93 n°8 (August 2019) . - pp 1093 - 1104 Titre : Robust M–M unscented Kalman filtering for GPS/IMU navigation Type de document : Article/Communication Auteurs : Cheng Yang, Auteur ; Wenzhong Shi, Auteur ; Wu Chen, Auteur Année de publication : 2019 Article en page(s) : pp 1093 - 1104 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes descripteurs IGN] coefficient de corrélation [Termes descripteurs IGN] erreur de mesure [Termes descripteurs IGN] erreur de modèle [Termes descripteurs IGN] filtre de Kalman [Termes descripteurs IGN] GNSS-INS [Termes descripteurs IGN] matrice de covariance [Termes descripteurs IGN] méthode du maximum de vraisemblance (estimation) [Termes descripteurs IGN] méthode robuste [Termes descripteurs IGN] modèle non linéaire Résumé : (auteur) In this paper, a robust unscented Kalman filter (UKF) based on the generalized maximum likelihood estimation (M-estimation) is proposed to improve the robustness of the integrated navigation system of Global Navigation Satellite System and Inertial Measurement Unit. The UKF is a variation of Kalman filter by which the Jacobian matrix calculation in a nonlinear system state model is not necessary. The proposed robust M–M unscented Kalman filter (RMUKF) applies the M-estimation principle to both functional model errors and measurement errors. Hence, this robust filter attenuates the influences of disturbances in the dynamic model and of measurement outliers without linearizing the nonlinear state space model. In addition, an equivalent weight matrix, composed of the bi-factor shrink elements, is proposed in order to keep the original correlation coefficients of the predicted state unchanged. Furthermore, a nonlinear error model is used as the dynamic equation to verify the performance of the proposed RMUKF with a simulation and field test. Compared with the conventional UKF, the impacts of measurement outliers and system disturbances on the state estimation are both controlled by RMUKF. Numéro de notice : A2019-370 Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-018-01227-5 date de publication en ligne : 22/01/2019 En ligne : https://doi.org/10.1007/s00190-018-01227-5 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=93455 [article]

On the detectability of mis-modeled biases in the network-derived positioning corrections and their user impact / Amir Khodabandeh in GPS solutions, vol 23 n° 3 (July 2019)  

Public [article]  inGPS solutions > vol 23 n° 3 (July 2019) Titre : On the detectability of mis-modeled biases in the network-derived positioning corrections and their user impact Type de document : Article/Communication Auteurs : Amir Khodabandeh, Auteur ; Jinling Wang, Auteur ; Chris Rizos, Auteur ; Ahmed El-Mowafy, Auteur Année de publication : 2019 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes descripteurs IGN] correction [Termes descripteurs IGN] filtre de Kalman [Termes descripteurs IGN] inférence statistique [Termes descripteurs IGN] intégrité des données [Termes descripteurs IGN] modèle linéaire [Termes descripteurs IGN] positionnement cinématique en temps réel [Termes descripteurs IGN] positionnement par GNSS [Termes descripteurs IGN] positionnement ponctuel précis [Termes descripteurs IGN] précision du positionnement [Termes descripteurs IGN] Receiver Autonomous Integrity Monitoring [Termes descripteurs IGN] traitement de données GNSS Résumé : (auteur) High-precision single-receiver positioning requires the provision of reliable network-derived corrections. Care must therefore be exercised to continuously check the quality of the corrections and to detect the possible presence of mis-modeled biases in the network data. In network-RTK or its state-space implementation, PPP-RTK, quality control of the solutions is executed in two separate phases: the network component and the user component. Once confidence in the network-derived solutions is declared, a subset of the solutions is sent as corrections to a single-receiver user, thereby allowing the user to separately check the integrity of his network-aided model. In such a two-step integrity monitoring procedure, an intermediate step is missing, the integrity monitoring of the corrections themselves. It is the goal of this contribution to provide a quality control procedure for GNSS parameter solutions at the correction level, and to measure the impact a missed detection bias has on the (ambiguity-resolved) user position. New detection test statistics are derived with which the single-receiver user can check the overall validity of the corrections even before applying them to his data. A small-scale network of receivers is utilized to provide numerical insights into the detectability of mis-modeled biases using the proposed detectors and to analyze the impact of such biases on the user positioning performance. Numéro de notice : A2019-195 Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s10291-019-0863-x date de publication en ligne : 14/05/2019 En ligne : https://doi.org/10.1007/s10291-019-0863-x Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=92649 [article]

Real-time sea-level monitoring using Kalman filtering of GNSS-R data / Joakim Strandberg in GPS solutions, vol 23 n° 3 (July 2019)  

Public [article]  inGPS solutions > vol 23 n° 3 (July 2019) Titre : Real-time sea-level monitoring using Kalman filtering of GNSS-R data Type de document : Article/Communication Auteurs : Joakim Strandberg, Auteur ; Thomas Hobiger, Auteur ; Rüdiger Haas, Auteur Année de publication : 2019 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Nivellement [Termes descripteurs IGN] B-Spline [Termes descripteurs IGN] déformation de la croute terrestre [Termes descripteurs IGN] filtre de Kalman [Termes descripteurs IGN] glace de mer [Termes descripteurs IGN] marée terrestre [Termes descripteurs IGN] niveau de la mer [Termes descripteurs IGN] rapport signal sur bruit [Termes descripteurs IGN] réflectométrie par GNSS [Termes descripteurs IGN] temps réel Résumé : (auteur) Current GNSS-R (GNSS reflectometry) techniques for sea surface measurements require data collection over longer periods, limiting their usability for real-time applications. In this work, we present a new, alternative GNSS-R approach based on the unscented Kalman filter and the so-called inverse modeling approach. The new method makes use of a mathematical description that relates SNR (signal-to-noise ratio) variations to multipath effects and uses a B-spline formalism to obtain time series of reflector height. The presented algorithm can provide results in real time with a precision that is significantly better than spectral inversion methods and almost comparable to results from inverse modeling in post-processing mode. To verify the performance, the method has been tested at station GTGU at the Onsala Space Observatory, Sweden, and at the station SPBY in Spring Bay, Australia. The RMS (root mean square) error with respect to nearby tide gauge data was found to be 2.0 cm at GTGU and 4.8 cm at SPBY when evaluating the output corresponding to real-time analysis. The method can also be applied in post-processing, resulting in RMS errors of 1.5 cm and 3.3 cm for GTGU and SPBY, respectively. Finally, based on SNR data from GTGU, it is also shown that the Kalman filter approach is able to detect the presence of sea ice with a higher temporal resolution than the previous methods and traditional remote sensing techniques which monitor ice in coastal regions. Numéro de notice : A2019-198 Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s10291-019-0851-1 En ligne : https://doi.org/10.1007/s10291-019-0851-1 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=92653 [article]

Real-time GPS satellite orbit and clock estimation based on OpenMP / Kaifa Kuang in Advances in space research, vol 63 n° 8 (15 April 2019)  

Public [article]  inAdvances in space research > vol 63 n° 8 (15 April 2019) . - pp 2378 - 2386 Titre : Real-time GPS satellite orbit and clock estimation based on OpenMP Type de document : Article/Communication Auteurs : Kaifa Kuang, Auteur ; Shoujian Zhang, Auteur ; Jian Cheng Li, Auteur Année de publication : 2019 Article en page(s) : pp 2378 - 2386 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale [Termes descripteurs IGN] estimation statistique [Termes descripteurs IGN] filtre de Kalman [Termes descripteurs IGN] horloge du satellite [Termes descripteurs IGN] modèle mathématique [Termes descripteurs IGN] Open Multi-Processing [Termes descripteurs IGN] orbite [Termes descripteurs IGN] temps réel Résumé : (Auteur) Real-time precise GNSS satellite orbit and clock products are the prerequisite of real-time GNSS-based applications. To obtain real-time GNSS satellite orbit and clock, three approaches exist currently, namely, the prediction-estimation approach, the prediction-correction approach and the estimation approach. Different from the former two approaches, which are based on the predicted orbit, the last approach estimates orbit and clock in an integrated way, thus it is the most rigorous one. However, the simultaneously estimation of both orbit and clock parameters makes it very time-consuming. In this contribution, the extended Kalman filter with parallel computation proposed for real-time GPS satellite clock estimation (Gao et al., 2017) is introduced to improve the computational efficiency. In the introduced method, the epoch observations are processed sequentially and the covariance update process is accelerated with the Open Multi-Processing. With observation data from about 70 globally distributed stations spanning days 001–003 of 2018, the real-time GPS orbit and clock are estimated for validation. The epoch average processing time of the introduced method achieves around 2.9 s on average with 16 CPU cores, while that of the traditional method without Open Multi-Processing is about 4.1 s. When compare the estimated orbit and clock to the IGS final products, the daily constellation-mean RMS of orbit achieve 2.7, 5.7, 4.9 cm for the radial, along-track and cross-track respectively, while the daily constellation-mean STD of the clock is about 0.10 ns. The numerical experiments indicate that the introduced method is able to provide real-time sub-decimeter GPS orbit and clock within 10.0 s considering the time for data collection and corrections broadcast. Numéro de notice : A2019-170 Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.asr.2019.01.009 date de publication en ligne : 19/01/2019 En ligne : https://doi.org/10.1016/j.asr.2019.01.009 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=92619 [article]

BIM-Tracker: A model-based visual tracking approach for indoor localisation using a 3D building model / Debaditya Acharya in ISPRS Journal of photogrammetry and remote sensing, vol 150 (April 2019)  

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On the assimilation of absolute geodetic dynamic topography in a global ocean model: impact on the deep ocean state / Alexey Androsov in Journal of geodesy, vol 93 n° 2 (February 2019)  

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On constrained integrated total Kalman filter for integrated direct geo-referencing / Vahid Mahboub in Survey review, vol 51 n° 364 (January 2019)  

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Differential positioning based on the orthogonal transformation algorithm with GNSS multi-system / Xiao Liang in GPS solutions, vol 22 n° 3 (July 2018)  

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GPS receiver phase biases estimable in PPP-RTK networks : dynamic characterization and impact analysis / Baocheng Zhang in Journal of geodesy, vol 92 n° 6 (June 2018)  

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Design and implementation of a model predictive observer for AHRS / Jafar Keighobadi in GPS solutions, vol 22 n° 1 (January 2018)  

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Tight integration of INS/Stereo VO/Digital map for land vehicle navigation / Fei Liu in Photogrammetric Engineering & Remote Sensing, PERS, vol 84 n° 1 (January 2018)  

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Vehicle dynamic model based navigation for small UAVs / Mehran Khaghani (2018)  

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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)  

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Ionospheric and receiver DCB-constrained multi-GNSS single-frequency PPP integrated with MEMS inertial measurements / Zhouzheng Gao in Journal of geodesy, vol 91 n° 11 (November 2017)  

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