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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]

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]

Enabling RTK positioning under jamming: Mitigation of carrier-phase distortions induced by blind spatial filtering / Tobias Bamberg in Navigation : journal of the Institute of navigation, vol 70 n° 1 (Spring 2023)  

Public [article]  inNavigation : journal of the Institute of navigation > vol 70 n° 1 (Spring 2023) . - n° 556 Titre : Enabling RTK positioning under jamming: Mitigation of carrier-phase distortions induced by blind spatial filtering Type de document : Article/Communication Auteurs : Tobias Bamberg, Auteur ; A. Konovaltsev, Auteur ; Michael Meurer, Auteur Année de publication : 2023 Article en page(s) : n° 556 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement du signal [Termes IGN] brouillage [Termes IGN] compensation [Termes IGN] erreur de phase [Termes IGN] filtrage du bruit [Termes IGN] filtrage du signal [Termes IGN] interférence [Termes IGN] positionnement cinématique en temps réel [Termes IGN] signal GNSS Résumé : (auteur) New GNSS applications demand resilience against radio interference and high position accuracy. Separately, these demands can be fulfilled by multi-antenna systems using spatial filtering and carrier-phase positioning algorithms like real-time kinematic (RTK), respectively. However, combining these approaches encounters a severe issue: The spatial filtering induces a phase offset into the measured carrier phase leading to a loss of position accuracy. This paper presents a new approach to compensate for the phase offset in a blind manner, (i.e., without knowing the antenna array radiation pattern or the direction of arrival of the signals). The proposed approach is experimentally validated in two jamming scenarios. One includes a jammer with increasing power and the other includes a moving jammer. The results demonstrate that the approach successfully compensates for the phase offset and, hence, allows for the combined use of RTK positioning and spatial filtering even under jamming. Numéro de notice : A2023-140 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.33012/navi.556 Date de publication en ligne : 09/08/2022 En ligne : https://doi.org/10.33012/navi.556 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102703 [article]

Temporal spectrum of spatial correlations between GNSS station position time series / Yujiao Niu in Journal of geodesy, vol 97 n° 2 (February 2023)  

Public [article]  inJournal of geodesy > vol 97 n° 2 (February 2023) . - n° 12 Titre : Temporal spectrum of spatial correlations between GNSS station position time series Type de document : Article/Communication Auteurs : Yujiao Niu, Auteur ; Paul Rebischung , Auteur ; Min Li, Auteur ; Na Wei, Auteur ; Chuang Shi, Auteur ; Zuheir Altamimi , Auteur Année de publication : 2023 Article en page(s) : n° 12 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Termes IGN] analyse spatio-temporelle [Termes IGN] bruit blanc [Termes IGN] corrélation automatique de points homologues [Termes IGN] filtrage du bruit [Termes IGN] série temporelle [Termes IGN] station GNSS [Termes IGN] transformation de Fourier [Vedettes matières IGN] Traitement de données GNSS Résumé : (auteur) The background noise in Global Navigation Satellite Systems (GNSS) station position time series is known to be both temporally and spatially correlated. Its temporal correlations are well modeled and routinely taken into account when deriving parameters of interest like station velocities. On the other hand, a general model of the spatial correlations in GNSS time series is lacking, and they are usually ignored, although their consideration could benefit several purposes such as offset detection, velocity estimation or spatial filtering. In order to improve the realism of current spatio-temporal correlation models, we investigate in this study how the spatial correlations of GNSS time series vary with the temporal frequency. A frequency-dependent measure of the spatial correlations is therefore introduced and applied to station position time series from the latest reprocessing campaign of the International GNSS Service (IGS), as well as to Precise Point Positioning time series provided by the Nevada Geodetic Laboratory (NGL). Different spatial correlation regimes are thus evidenced at different temporal frequencies. The different levels of spatial correlations between IGS and NGL datasets furthermore suggest that some part of the spatially correlated background noise in GNSS time series consists of GNSS errors rather than aperiodic Earth surface deformation signal. Numéro de notice : A2025-145 Affiliation des auteurs : UMR IPGP-Géod+Ext (2020- ) Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-023-01703-7 Date de publication en ligne : 06/02/2023 En ligne : https://doi.org/10.1007/s00190-023-01703-7 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102746 [article]

INS-assisted inter-system biases estimation and inter-system ambiguity resolution in a complex environment / Wenhao Zhao in GPS solutions, vol 27 n° 1 (January 2023)  

Public [article]  inGPS solutions > vol 27 n° 1 (January 2023) . - n° 3 Titre : INS-assisted inter-system biases estimation and inter-system ambiguity resolution in a complex environment Type de document : Article/Communication Auteurs : Wenhao Zhao, Auteur ; Genyou Liu, Auteur ; Ming Gao, Auteur ; et al., Auteur Année de publication : 2023 Article en page(s) : n° 3 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale [Termes IGN] centrale inertielle [Termes IGN] erreur systématique inter-systèmes [Termes IGN] filtre de Kalman [Termes IGN] positionnement cinématique en temps réel [Termes IGN] résolution d'ambiguïté [Termes IGN] système complexe [Termes IGN] trajet multiple Résumé : (auteur) The inter-system real-time kinematic (RTK) model in which multiple systems choose the same reference satellite uses more observations than the traditional intra-system RTK model; however, it is still difficult to accurately determine the differential inter-system biases (DISB) and inter-system ambiguity in a complex environment. We propose a tightly coupled inter-system RTK/INS model that uses the high-precision position information the inertial navigation system (INS) provides to assist in DISB estimation and inter-system ambiguity resolution. Vehicle experiments on urban roads were designed to verify the effectiveness of the method. The vehicle experiments consisted of a simulated rare satellite environment with a high cutoff elevation angle and a real complex environment with buildings and trees obscuration. A robust Kalman filter strategy is used to combat the effects of multipath and non-line-of-sight signals in real complex environments. The results indicate that with the help of INS, the standard deviation of phase and code DISB is reduced by 11 and 17%, respectively, in the simulated environment and by 33 and 18%, respectively, in the real complex environment. Compared with the intra-system RTK/INS model, inter-system RTK/INS mode 3D positioning root-mean-square error is reduced by 79% in the simulated environment and by 27% in the real complex environment. In the single-epoch mode, the ambiguity success rates of the inter-system RTK/INS model, inter-system RTK model, intra-system RTK/INS model and intra-system RTK model are 89, 74, 69 and 58%, respectively, in the simulated environment, and 68, 41, 64 and 12%, respectively, in the real complex environment. Numéro de notice : A2023-003 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s10291-022-01347-8 Date de publication en ligne : 09/10/2022 En ligne : https://doi.org/10.1007/s10291-022-01347-8 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=101873 [article]

Semi-supervised label propagation for multi-source remote sensing image change detection / Fan Hao in Computers & geosciences, vol 170 (January 2023)  

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Tree position estimation from TLS data using hough transform and robust least-squares circle fitting / Maja Michałowska in Remote Sensing Applications: Society and Environment, RSASE, vol 29 (January 2023)  

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Consistency assessment of multi-date PlanetScope imagery for seagrass percent cover mapping in different seagrass meadows / Pramaditya Wicaksono in Geocarto international, vol 37 n° 27 ([20/12/2022])  

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High-precision positioning using plane-constrained RTK method in urban environments / Chen Zhuang in Navigation : journal of the Institute of navigation, vol 69 n° 4 (Fall 2022)  

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Robust modeling of GNSS orbit and clock error dynamics / Elisa Gallon in Navigation : journal of the Institute of navigation, vol 69 n° 4 (Fall 2022)  

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Vertical deformation and residual altimeter systematic errors around continental Australia inferred from a Kalman-based approach / Mohammad-Hadi Rezvani in Journal of geodesy, vol 96 n° 12 (December 2022)  

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A robust edge detection algorithm based on feature-based image registration (FBIR) using improved canny with fuzzy logic (ICWFL) / Anchal Kumawat in The Visual Computer, vol 38 n° 11 (November 2022)  

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Correcting laser scanning intensity recorded in a cave environment for high-resolution lithological mapping: A case study of the Gouffre Georges, France / Michaela Nováková in Remote sensing of environment, vol 280 (October 2022)  

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Deep learning-based local climate zone classification using Sentinel-1 SAR and Sentinel-2 multispectral imagery / Lin Zhou in Geo-spatial Information Science, vol 25 n° 3 (October 2022)  

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Deep image deblurring: A survey / Kaihao Zhang in International journal of computer vision, vol 130 n° 9 (September 2022)  

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