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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]

BDS-3 precise orbit and clock solution at Wuhan University: status and improvement / Jing Guo in Journal of geodesy, vol 97 n° 2 (February 2023)  

Public [article]  inJournal of geodesy > vol 97 n° 2 (February 2023) . - n° 15 Titre : BDS-3 precise orbit and clock solution at Wuhan University: status and improvement Type de document : Article/Communication Auteurs : Jing Guo, Auteur ; Guo Chen, Auteur ; Xiaolong Xu, Auteur ; et al., Auteur Année de publication : 2023 Article en page(s) : n° 15 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Techniques orbitales [Termes IGN] horloge du satellite [Termes IGN] orbite précise [Termes IGN] orbitographie [Termes IGN] positionnement par BeiDou [Termes IGN] rayonnement solaire [Termes IGN] signal BeiDou Résumé : (auteur) With the rapid deployment of the third-generation satellites of the BeiDou Navigation Satellite System (BDS-3), Wuhan University (WHU) has incorporated BDS-3 satellites to its routine Multi-GNSS analysis since Day of Year 1, 2019. This article summarizes the processing strategy and presents the validation results of the WHU BDS-3 orbit and clock solutions submitted to the International GNSS Service Multi-GNSS Experiment in 2019. Although more than 200 stations with B1I and B3I signals tracking capability can be used for BDS-3 precise orbit determination, the number of tracking stations for different satellites diverges greatly; in general, more stations track those launched early and less those deployed late. The validations with orbit boundary misclosures, orbit differences with respect to BDS-3 products of GeoForschungsZentrum (GFZ) and Satellite Laser Ranging (SLR) residuals show that the orbits are affected by the number of tracking stations and the deficiency of dynamic models. To overcome the latter, an a priori solar radiation pressure (SRP) model has been proposed considering the Earth albedo and antenna thrust. The SLR validation shows that the new SRP model significantly improves the orbit from 5 to 7 cm to about 3 to 4 cm by reducing the Sun-elongation-angle-dependent errors of the BDS-3 orbits. Besides, the clock products have been compared with those of GFZ, and the root-mean-square (RMS) of clock linear fit is also analyzed. Noticeable different quality has been shown for Rubidium Atomic Frequency Standard and Passive Hydrogen Maser (PHM) clocks. The Sun-elevation-angle-dependent patterns are identified in PHM clocks, and the RMS of clock linear fit of PHM clocks can be reduced with improved dynamic modeling, particularly in eclipse seasons. Numéro de notice : A2023-131 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-023-01705-5 En ligne : https://doi.org/10.1007/s00190-023-01705-5 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102674 [article]

Coastal GNSS-R phase altimetry based on the combination of L1 and L5 signals under high sea states / Yunqiao He in Journal of geodesy, vol 97 n° 2 (February 2023)  

Public [article]  inJournal of geodesy > vol 97 n° 2 (February 2023) . - n° 19 Titre : Coastal GNSS-R phase altimetry based on the combination of L1 and L5 signals under high sea states Type de document : Article/Communication Auteurs : Yunqiao He, Auteur ; Fan Gao, Auteur ; Tianhe Xu, Auteur ; et al., Auteur Année de publication : 2023 Article en page(s) : n° 19 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Termes IGN] diffusion de Rayleigh [Termes IGN] hauteurs de mer [Termes IGN] niveau de la mer [Termes IGN] phase GNSS [Termes IGN] précision altimétrique [Termes IGN] Quasi-Zenith Satellite System [Termes IGN] rapport signal sur bruit [Termes IGN] récepteur bifréquence [Termes IGN] réflectométrie par GNSS [Termes IGN] signal GNSS [Vedettes matières IGN] Altimétrie Résumé : (auteur) High-precision sea surface heights retrieved from the Global Navigation Satellite System Reflectometry (GNSS-R) measurements will be valuable in the fields of geodesy and oceanography studies. Due to the short wavelengths and low power of GNSS signals, the continuously tracked carrier phase measurements of reflected signals are usually unavailable for sea surfaces with big roughness, varying over space and time. In coastal conditions, persisting spatial coherence assumption can be made within the antenna coverage when the waves are not greatly breaking. To deal with temporal incoherence, we propose an improved algorithm to extract the combined interferometric phase difference measurements between direct and reflected signals under high sea states. After initial tracking the direct signals, dual-frequency observations are combined in the complex domain and the resulting interferometric signal is refined through open-loop tracking with 60-s coherent integration before the phase difference measurements are extracted, without tracking their respective carrier phase measurements in advance. In order to verify our method, a coastal experiment under different sea conditions was conducted and raw intermediate frequency data were collected. The raw data were then processed by a GNSS-R software-defined receiver to compute the path delay measurements of Quasi-Zenith Satellite System signals, which had good visibility during our experiment. For high sea states, that is, when the Rayleigh criterion is not fulfilled for the individual wavelengths, the phase delay measurements of L1 and L5 were random over time, while phase delay can still be well recovered for their combination. Also, the phase delay combination can be well extracted with a higher elevation angle than the previous studies. Finally, the altimetry solutions derived from the carrier phase delay measurements combination were compared with the in situ observations from a 26-GHz radar altimeter. The results show that centimeter-level altimetry accuracy using the combined measurements of L1 and L5 can be achieved under high sea states. Numéro de notice : A2023-132 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-023-01712-6 Date de publication en ligne : 27/03/2023 En ligne : https://doi.org/10.1007/s00190-023-01712-6 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102675 [article]

Undifferenced and uncombined GNSS time and frequency transfer with integer ambiguity resolution / Xiaolong Mi in Journal of geodesy, vol 97 n° 2 (February 2023)  

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Autonomous coordinate establishment of local reference frames for ground-based positioning systems without known points / Tengfei Wang in Journal of geodesy, vol 97 n° 1 (January 2023)  

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Evaluation of GNSS-based volunteered geographic information for assessing visitor spatial distribution within protected areas: A case study of the Bavarian Forest National Park, Germany / Laura Horst in Applied Geography, vol 150 (January 2023)  

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Improving undifferenced precise satellite clock estimation with BDS-3 quad-frequency B1I/B3I/B1C/B2a observations for precise point positioning / Guoqiang Jiao in GPS solutions, vol 27 n° 1 (January 2023)  

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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)  

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Multipath mitigation for improving GPS narrow-lane uncalibrated phase delay estimation and speeding up PPP ambiguity resolution / Kai Zheng in Measurement, vol 206 (January 2023)  

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Parameterisation of the GNSS troposphere tomography domain with optimisation of the nodes’ distribution / Estera Trzcina in Journal of geodesy, vol 97 n° 1 (January 2023)  

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Performance tests of geodetic receivers with tilt sensors in obstructed environments using the NRTK GNSS technique / Puttipol Dumrongchai in Journal of applied geodesy, vol 17 n° 1 (January 2023)  

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Spatiotemporal accuracy evaluation and errors analysis of global VTEC maps using a simulation technique / Jian Lin in GPS solutions, vol 27 n° 1 (January 2023)  

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Wavelet-like denoising of GNSS data through machine learning. Application to the time series of the Campi Flegrei volcanic area (Southern Italy) / Rolando Carbonari in Geomatics, Natural Hazards and Risk, vol 14 n° 1 (2023)  

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