Centre dedocumentation
scientifique

Instantaneous estimation of attitude from GNSS / Hendy Fitrian Suhandri (2017) 

Public Titre : Instantaneous estimation of attitude from GNSS Type de document : Thèse/HDR Auteurs : Hendy Fitrian Suhandri, Auteur ; Alfred Kleusberg, Directeur de thèse ; Hasanuddin Zainal Abidin, Directeur de thèse Editeur : Stuttgart : University of Stuttgart Année de publication : 2017 Importance : 143 p. Format : 21 x 30 cm Note générale : Bibliographie thesis accepted by the Faculty of Aerospace Engineering and Geodesy of the University of Stuttgart in partial fulfilment of the requirements for the degree of Doctor of Engineering Sciences (Dr.-Ing.) Langues : Anglais (eng) Descripteur : [Termes descripteurs IGN] ambiguïté entière [Termes descripteurs IGN] angle d'Euler [Termes descripteurs IGN] double différence [Termes descripteurs IGN] filtre de Kalman [Termes descripteurs IGN] méthode des moindres carrés [Termes descripteurs IGN] modèle stochastique [Termes descripteurs IGN] orientation de véhicule [Termes descripteurs IGN] positionnement cinématique [Termes descripteurs IGN] positionnement par GNSS [Termes descripteurs IGN] récepteur GNSS [Termes descripteurs IGN] simple différence [Vedettes matières IGN] Traitement de données GNSS Résumé : (auteur) The use of the Global Navigation Satellite System (GNSS) is widely spread from position determination to attitude determination of a platform in space. This system offers time invariant estimation position. Another thing that can be an advantage is that the flexibility to operate the GNSS receiver variants, from the low-cost until the high-performance GNSS receivers. In terms of attitude determination application at least three receivers are required to determine three spatial axes, where the cost-effective GNSS attitude determination systems can be constructed with today’s receiver technology. At the moment, however, algorithms are lacking which are fast and efficient enough to estimate the position angles without delay. For this reason, the present work deals with the development of algorithms for the attitude determination in space of a platform under the help of the "GNSS" Global Positioning System (GPS). The investigation through this work is classified into three sequential parts: The first part is the estimation of the optimal configuration of baseline array as well as the estimation of the integer ambiguity of carrier phase differences. The estimated integer ambiguity is then used to estimate the high precision baseline coordinates. The second part is to estimate the attitude of the platform in space by means of quaternion using batch process, and the last part is to improve the algorithm using a recursive algorithm for the kinematic application purpose. The precise attitude determination about three spatial axes is possible if at least three GNSS receivers with fixed baselines are used in particular array configurations. Assuming that the basic lengths of the baselines are known a priori, the attitude angles can be calculated via the combination of carrier phase and pseudorange observations. Since the carrier of the GPS signal is propagated in short-wave form, the measured phase differences are ambiguous. The multiples of the GPS signal phases together with the baseline lengths are therefore estimated and improved in a first step with the aid of the a priori baseline lengths information. The multiple-baseline float solution estimation method is used. However, the approach does not provide optimal results. Therefore, an alternative algorithm for the float solution is presented, which estimates the float solution by using the socalled the gradient based iterative method of the least-squares. It shows that method is able to give convergent estimate parameter. It is also shown here that the proposed method outperforms the conventional iterative least-squares in terms of iteration number and computational time. For instantaneous applications, the Least-squares AMBiguity Decorrelation Adjustment (LAMBDA) method is not optimal for fixing the integer multiples of the carrier phase differences for several baseline lengths. In addition, this method requires a high computational effort as soon as a larger number of baseline lines enter into the calculation. An improvement in this work is utilising the partial LAMBDA method, which only uses a subset of the integer multiples to be determined. This algorithm improves the determination of integer multiples and precise calculation of the baseline lengths. The advantages of this algorithm are discussed, and it is empirically demonstrated that the ambiguities are better resolved. Furthermore, the estimation of the attitude angles with the aid of quaternions is theoretically improved and analysed. Two processing strategies are investigated: the least-squares method and the Kalman Filter (KF) method. For the static case, the least-squares is applied and tested. Simulations show that the developed gradient based iterative method of the least-squares provides better estimates than the conventional adjustment methods. It is also shown that the number of iterations required is less and the computational time is reduced. This algorithm is not useful for kinematic applications where a fast sequence of results is required. A modified Extended Kalman Filter (EKF)-Like algorithm is used for kinematic applications. Experiments show that with this algorithm more stable quaternions can be calculated with fewer outliers than when they are determined by the least-squares method. All newly developed algorithms are theoretically analysed and subjected to extensive simulations and experimental kinematic tests in the field. Note de contenu : Introduction 1 - General mathematical model of GNSS positioning 2 - Multi-baseline GNSS estimation method 3 - GNSS based attitude determination 4 - Recursive attitude determination 5 - Experimental result of static and kinematic tests 6 - Summary, conclusion and future work suggestion Numéro de notice : 21574 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Thèse étrangère Note de thèse : Doctor thesis : Engineering sciences : Stuttgart : 2017 Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=90576

Documents numériques

en open access Instantaneous Estimation of Attitude ... - pdf auteur Adobe Acrobat PDF

Modèles géographiques avec le langage Mathematica / André Dauphiné (2017)

Public Titre : Modèles géographiques avec le langage Mathematica Type de document : Guide/Manuel Auteurs : André Dauphiné, Auteur Editeur : Londres : ISTE Editions Année de publication : 2017 Collection : Systèmes d'information, web et société Importance : 331 p. Format : 15 x 23 cm ISBN/ISSN/EAN : 978-1-78405-236-2 Note générale : Bibliographie Langues : Français (fre) Descripteur : [Vedettes matières IGN] Analyse spatiale [Termes descripteurs IGN] analyse de données [Termes descripteurs IGN] automate cellulaire [Termes descripteurs IGN] géostatistique [Termes descripteurs IGN] langage de programmation [Termes descripteurs IGN] Mathematica [Termes descripteurs IGN] modèle conceptuel de données localisées [Termes descripteurs IGN] modèle stochastique [Termes descripteurs IGN] système dynamique [Termes descripteurs IGN] système multi-agents Index. décimale : 37.20 Analyse spatiale et ses outils Résumé : (Editeur) Les géographes construisent des modèles afin de comprendre et d’expliquer les relations sociétés-nature, les localisations d’objets, de personnes et d’activités, et les organisations territoriales. Ce livre dresse un panorama complet des types de modèles nécessaires à la mise au point de nouvelles connaissances géographiques : modèles stochastiques, de chroniques, d’analyses de données, de géostatistiques, de réseaux, de systèmes dynamiques, d’automates cellulaires et de systèmes multi-agents. Cet ouvrage didactique replace ces modèles dans leur contexte théorique. Il propose plus de 65 programmes écrits en langage Mathematica formalisant ces modèles. Des études de cas permettent de montrer leur pertinence. Le lecteur pourra appliquer immédiatement ces programmes à ses propres questionnements et données. Note de contenu : 1. Paradoxes théoriques de la géographie classique 2. Modèles statistiques et probabilistes des relations sociétés-nature 3. Modèles de systèmes dynamiques ordinaires 4. Théories des localisations géographiques 5. Modèles des localisations géographiques 6. Théoriser les structures et les dynamiques territoriales 7. Modèles de points et de champs 8. Modèles de réseaux 9. Modèles de l’espace géographique 10. Macro et micro-modèles de la morphogénie Numéro de notice : 22708 Affiliation des auteurs : non IGN Thématique : GEOMATIQUE/MATHEMATIQUE Nature : Manuel de cours Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=85164

Réservation

Réserver ce document

Exemplaires (1)

Code-barres	Cote	Support	Localisation	Section	Disponibilité
22708-01	37.20	Livre	Centre de documentation	Géomatique	Disponible

Determination of a terrestrial reference frame via Kalman filtering of very long baseline interferometry data / Benedikt Soja in Journal of geodesy, vol 90 n° 12 (December 2016)  

Public [article]  inJournal of geodesy > vol 90 n° 12 (December 2016) . - pp 1311 - 1327 Titre : Determination of a terrestrial reference frame via Kalman filtering of very long baseline interferometry data Type de document : Article/Communication Auteurs : Benedikt Soja, Auteur ; Tobias Nilsson, Auteur ; Kyriakos Balidakis, Auteur ; et al., Auteur Année de publication : 2016 Article en page(s) : pp 1311 - 1327 Note générale : Bibliographie ; Erratum : voir pdf Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Systèmes de référence et réseaux [Termes descripteurs IGN] bruit (théorie du signal) [Termes descripteurs IGN] coordonnées géographiques [Termes descripteurs IGN] filtre de Kalman [Termes descripteurs IGN] image radar moirée [Termes descripteurs IGN] interférométrie à très grande base [Termes descripteurs IGN] International Terrestrial Reference Frame [Termes descripteurs IGN] modèle stochastique [Termes descripteurs IGN] station permanente Résumé : (Auteur) Terrestrial reference frames (TRF), such as the ITRF2008, are primary products of geodesy. In this paper, we present TRF solutions based on Kalman filtering of very long baseline interferometry (VLBI) data, for which we estimate steady station coordinates over more than 30 years that are updated for every single VLBI session. By applying different levels of process noise, non-linear signals, such as seasonal and seismic effects, are taken into account. The corresponding stochastic model is derived site-dependent from geophysical loading deformation time series and is adapted during periods of post-seismic deformations. Our results demonstrate that the choice of stochastic process has a much smaller impact on the coordinate time series and velocities than the overall noise level. If process noise is applied, tests with and without additionally estimating seasonal signals indicate no difference between the resulting coordinate time series for periods when observational data are available. In a comparison with epoch reference frames, the Kalman filter solutions provide better short-term stability. Furthermore, we find out that the Kalman filter solutions are of similar quality when compared to a consistent least-squares solution, however, with the enhanced attribute of being easier to update as, for instance, in a post-earthquake period. Numéro de notice : A2016-804 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-016-0924-7 En ligne : http://dx.doi.org/10.1007/s00190-016-0924-7 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=82591 [article]

An adaptive stochastic model for GPS observations and its performance in precise point positioning / J. Z. Zheng in Survey review, vol 48 n° 349 (July 2016)  

Public [article]  inSurvey review > vol 48 n° 349 (July 2016) . - pp 296 - 302 Titre : An adaptive stochastic model for GPS observations and its performance in precise point positioning Type de document : Article/Communication Auteurs : J. Z. Zheng, Auteur ; F. Guo, Auteur Année de publication : 2016 Article en page(s) : pp 296 - 302 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes descripteurs IGN] bruit (théorie du signal) [Termes descripteurs IGN] correction ionosphérique [Termes descripteurs IGN] fenêtre (informatique) [Termes descripteurs IGN] mesurage de pseudo-distance [Termes descripteurs IGN] modèle stochastique [Termes descripteurs IGN] positionnement par GPS [Termes descripteurs IGN] récepteur GPS [Termes descripteurs IGN] temps réel Résumé : (auteur) In this paper, the stochastic characteristics of Global Positioning System (GPS) pseudo-range noise as influenced by several factors such as receiver type, frequency, and ionosphere environment are analysed. The results indicate that the noise level of GPS observations is significantly affected by these factors. Moreover, the noise level is so mutable that it cannot be generalised and described by a uniform empirical model. Even for the same satellite, the noise level of observations may fluctuate sharply in both spatial and temporal resolution. To establish a reasonable stochastic model, a recursive sliding window method for estimating pseudo-range noise in real time is introduced. The effectiveness of the proposed method is verified by specific computational examples. Numéro de notice : A2016-626 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1179/1752270615Y.0000000033 En ligne : https://doi.org/10.1179/1752270615Y.0000000033 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=81842 [article]

Stochastic modeling of triple-frequency BeiDou signals: estimation, assessment and impact analysis / Bofeng Li in Journal of geodesy, vol 90 n° 7 (July 2016)  

Public [article]  inJournal of geodesy > vol 90 n° 7 (July 2016) . - pp 593 – 610 Titre : Stochastic modeling of triple-frequency BeiDou signals: estimation, assessment and impact analysis Type de document : Article/Communication Auteurs : Bofeng Li, Auteur Année de publication : 2016 Article en page(s) : pp 593 – 610 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes descripteurs IGN] données BeiDou [Termes descripteurs IGN] erreur instrumentale [Termes descripteurs IGN] modèle stochastique [Termes descripteurs IGN] orbite géostationnaire [Termes descripteurs IGN] positionnement par GNSS [Termes descripteurs IGN] récepteur trifréquence [Termes descripteurs IGN] résolution d'ambiguïté Résumé : (auteur) Stochastic models are important in global navigation satellite systems (GNSS) estimation problems. One can achieve reliable ambiguity resolution and precise positioning only by use of a suitable stochastic model. The BeiDou system has received increased research focus, but based only on empirical stochastic models from the knowledge of GPS. In this paper, we will systematically study the estimation, assessment and impacts of a triple-frequency BeiDou stochastic model. In our estimation problem, a single-difference, geometry-free functional model is used to extract pure random noise. A very sophisticated structure of unknown variance matrix is designed to allow the estimation of satellite-specific variances, cross correlations between two arbitrary frequencies, as well as the time correlations for phase and code observations per frequency. In assessing the stochastic models, six data sets with four brands of BeiDou receivers on short and zero-length baselines are processed, and the results are compared. In impact analysis of stochastic model, the performance of integer ambiguity resolution and positioning are numerically demonstrated using a realistic stochastic model. The results from ultrashort (shorter than 10 m) and zero-length baselines indicate that BeiDou stochastic models are affected by both observation and receiver brands. The observation variances have been modeled by an elevation-dependent function, but the modeling errors for geostationary earth orbit (GEO) satellites are larger than for inclined geosynchronous satellite orbit (IGSO) and medium earth orbit (MEO) satellites. The stochastic model is governed by both the internal errors of the receiver and external errors at the site. Different receivers have different capabilities for resisting external errors. A realistic stochastic model is very important for achieving ambiguity resolution with a high success rate and small false alarm and for determining realistic variances for position estimates. To the best of our knowledge, this paper is the first comprehensive study on such stochastic models used specifically with BeiDou data. Numéro de notice : A2016-424 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern En ligne : http://dx.doi.org/10.1007/s00190-016-0896-7 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=81318 [article]

Introduction to Time Series and Forecasting / Peter J. Brockwell (2016)  

Permalink

Investigating efficacy of robust M-estimation of deformation from observation differences / Krzysztof Nowel in Survey review, vol 48 n° 346 (January 2016)  

Permalink

Probabilistic multi-person localisation and tracking / Tobias Klinger (2016) 

Permalink

Stochastic geometrical model and Monte Carlo optimization methods for building reconstruction from InSAR data / Yue Zhang in ISPRS Journal of photogrammetry and remote sensing, vol 108 (October 2015)  

Permalink

A novel approach for predicting the spatial patterns of urban expansion by combining the chi-squared automatic integration detection decision tree, Markov chain and cellular automata models in GIS / Abubrakr A. A. Al Sharif in Geocarto international, vol 30 n° 7 - 8 (August - September 2015)  

Permalink

A probabilistic eco-hydrological model to predict the effects of climate change on natural vegetation at a regional scale / Jan-Philip M. Witte in Landscape ecology, vol 30 n° 5 (May 2015)  

Permalink

Regional gold potential mapping in Kelantan (Malaysia) using probabilistic based models and GIS / Suhaimizi Yusoff in Open geosciences, vol 7 n° 1 (January 2015)  

Permalink

Evaluation of feature-based 3-d registration of probabilistic volumetric scenes / Maria I. Restrepo in ISPRS Journal of photogrammetry and remote sensing, vol 98 (December 2014)

Permalink

A hybrid framework for single tree detection from airborne laser scanning data: A case study in temperate mature coniferous forests in Ontario, Canada / Junjie Zhang in ISPRS Journal of photogrammetry and remote sensing, vol 98 (December 2014)  

Permalink

Single frequency GPS/Galileo precise point positioning using un-differenced and between-satellite single difference measurements / Akram Afifi in Geomatica [en ligne], vol 68 n° 3 (September 2014)

Permalink