Centre dedocumentation
scientifique

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]

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

Public [article]  inJournal of geodesy > vol 97 n° 2 (February 2023) . - n° 13 Titre : Undifferenced and uncombined GNSS time and frequency transfer with integer ambiguity resolution Type de document : Article/Communication Auteurs : Xiaolong Mi, Auteur ; Baocheng Zhang, Auteur ; Ahmed El-Mowafy, Auteur ; et al., Auteur Année de publication : 2023 Article en page(s) : n° 13 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale [Termes IGN] ambiguïté entière [Termes IGN] modèle ionosphérique [Termes IGN] positionnement cinématique en temps réel [Termes IGN] positionnement ponctuel précis [Termes IGN] résolution d'ambiguïté [Termes IGN] retard ionosphèrique [Termes IGN] temps-fréquence Résumé : (auteur) Precise point positioning (PPP) has been a competitive global navigation satellite system (GNSS) technique for time and frequency transfer. However, the classical PPP is usually based on the ionosphere-free combination of dual-frequency observations, which has limited flexibility in the multi-frequency scenario. More importantly, the unknown integer ambiguities are not restored to the integer nature, making the advantage of high-precision carrier phase observations underutilized. In this contribution, using the undifferenced and uncombined (UDUC) observations, we derive the time and frequency transfer model suitable for multi-constellation and multi-frequency scenarios. Notably, in short- and medium-baseline time and frequency transfer, the ionosphere-fixed and ionosphere-weighted UDUC models are derived, respectively, by making full use of the single-differenced (SD) ionospheric constraints. The proposed model can be applied to short-, medium- and long-baseline time and frequency transfer. The ambiguities are solved in a double-differenced (DD) form and can thus be restored to integers. To verify the feasibility of the model, GPS data from several time laboratories were collected, and the performance of the time and frequency transfer were analyzed with different baseline lengths. The results showed that the ionosphere-fixed and ionosphere-weighted UDUC models with integer ambiguity resolution could improve the frequency stability by 25–60% and 9–30% at an averaging time of several tens of seconds to 1 day for short- and medium-baseline, respectively. Concerning the long-baseline, the UDUC model is 10–25% more stable than PPP for averaging time below a few thousands second and over 1 day. Numéro de notice : A2022-133 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-022-01689-8 Date de publication en ligne : 06/02/2023 En ligne : https://doi.org/10.1007/s00190-022-01689-8 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102677 [article]

An extended inter-system biases model for multi-GNSS precise point positioning / Xuexi Liu in Measurement, vol 206 (January 2023)  

Public [article]  inMeasurement > vol 206 (January 2023) . - n° 112306 Titre : An extended inter-system biases model for multi-GNSS precise point positioning Type de document : Article/Communication Auteurs : Xuexi Liu, Auteur ; Weiping Jiang, Auteur ; Pan Li, Auteur ; et al., Auteur Année de publication : 2023 Article en page(s) : n° 112306 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] distorsion du signal [Termes IGN] échelle de temps [Termes IGN] erreur systématique inter-systèmes [Termes IGN] modèle mathématique [Termes IGN] positionnement par BeiDou [Termes IGN] positionnement par GNSS [Termes IGN] positionnement ponctuel précis [Termes IGN] précision du positionnement Résumé : (auteur) The inter-system bias (ISB) is an important parameter in multi-GNSS precise point positioning (PPP). However, on the one hand, the generation mechanism and error components of ISB are not clear. On the other hand, it is unclear whether the ISB parameter should be added to the BDS-2/BDS-3 combined PPP. First, in order to solve these problems, an extended ISB mathematical model is proposed, which unifies the common errors between receiver and satellite, and extends the original ISB model. Second, to demonstrate the correctness of the new model, the components of the new ISB model are verified, and then it is used to explain whether the ISB parameter should be added to BDS-2/BDS-3 combined PPP. Furthermore, 41 stations from the MGEX network and precise products from COD (Center for Orbit Determination in Europe), GBM (Deutsches GeoForschungsZentrum) and WUM (Wuhan University) are used to calculate and analyze the multi-GNSS PPP and ISB during day of year (DOY) 307–365, 2020. Finally, we propose to use a different estimation method of ISB with different precise products to improve the positioning accuracy and shorten the convergence time. The experimental results show that: (1) ISB parameter is composed of five parts: time system error, receiver hardware delay, signal distortion biases (SDB), MGEX-realized (multi-GNSS experiment) time scale and other unmodeled deviations. (2) Due to different receiver hardware delay, SDB and MGEX-realized time scale between BDS-2 and BDS-3, it is necessary to add an ISB parameter in BDS-2/BDS-3 PPP. (3) In multi-GNSS PPP, if the ISB changes greatly but the traditional constant method is used to estimate the ISB parameter, the impact on single station PPP coordinates can reach decimeters. The statistical results demonstrate that the RMS of GBM(CON(Constant)) in East (E), North (N) and Up (U) directions are 2.34 cm, 0.60 cm, and 1.59 cm, respectively, while the RMS of GBM(RWK(Random walk)) decreased by 59.8 %, 13.3 %, and 18.2 %, respectively. Numéro de notice : A2023-028 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1016/j.measurement.2022.112306 Date de publication en ligne : 06/12/2022 En ligne : https://doi.org/10.1016/j.measurement.2022.112306 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102269 [article]

Establishing a high-precision real-time ZTD model of China with GPS and ERA5 historical data and its application in PPP / Pengfei Xia in GPS solutions, vol 27 n° 1 (January 2023)  

Public [article]  inGPS solutions > vol 27 n° 1 (January 2023) . - n° 2 Titre : Establishing a high-precision real-time ZTD model of China with GPS and ERA5 historical data and its application in PPP Type de document : Article/Communication Auteurs : Pengfei Xia, Auteur ; Mengxiang Tong, Auteur ; Shirong Ye, Auteur ; et al., Auteur Année de publication : 2023 Article en page(s) : n° 2 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale [Termes IGN] Chine [Termes IGN] correction troposphérique [Termes IGN] données météorologiques [Termes IGN] grille [Termes IGN] positionnement ponctuel précis [Termes IGN] retard troposphérique zénithal [Termes IGN] série de Fourier [Termes IGN] série temporelle [Termes IGN] station GNSS [Termes IGN] temps de convergence [Termes IGN] temps réel [Termes IGN] variation diurne Résumé : (auteur) A high-precision real-time troposphere model is constructed by combining ground-based GNSS observation data and the latest European Centre for Medium-Range Weather Forecasts (ECMWF) reanalysis (ERA5). First, the zenith tropospheric delay (ZTD) is extracted in real time with high accuracy by combining the data of more than 500 GNSS stations in the Crustal Movement Observation Network of China (CMONOC) and national reference station network (NRSN); second, a grid model of the elevation normalization model (ENM) in China using ERA5 data is constructed, which takes into account the annual, semiannual and daily cycles. The ZTD estimated by GNSS stations at different heights based on precise point positioning (PPP) is normalized to a uniform height based on ENM; in addition, the optimal smoothing factors of the Gauss distance weighting function in different seasons are determined based on ERA5, which contributes to improved accuracy of ZTD interpolated from GNSS-derived ZTD to ZTD at grid points; finally, a real-time 1° × 1°ZTD grid model of China is created; the broadcast interval is extended to 6 min from few seconds. The new ZTD model has been evaluated using the data of 15 GNSS stations in China in 2020. The test results show that the new ZTD model deviates from the reference value with a mean value better than − 0.09 cm and RMSE, better than 1.44 cm compared with the ZTD estimated by post-processing GNSS, while the mean value of the deviation is -0.13 cm, and the RMSE is approximately 3.11 cm compared with radiosonde-derived ZTD. The new ZTD grid model can be used to enhance GNSS/PPP. Two weeks of GNSS observations, one week in winter and another in summer, were randomly collected for PPP processing. The statistical results show the convergence time in the vertical directions is shortened by 37.4% and 38.6% at the 95% and 68% confidence levels after ZTD constraints are applied to the float PPP solution, respectively. Numéro de notice : A2023-004 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s10291-022-01338-9 Date de publication en ligne : 07/10/2022 En ligne : https://doi.org/10.1007/s10291-022-01338-9 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=101874 [article]

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)  

Permalink

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)  

Permalink

Galileo High Accuracy Service (HAS) ou le service de haute précision de Galileo / Bernard Flacelière in XYZ, n° 173 (décembre 2022)

Permalink

Identifying spurious cycle slips based on iterative filtering under disturbed ionospheric conditions for undifferenced GNSS observations / Yan Xiang in Advances in space research, vol 70 n° 11 (December 2022)  

Permalink

PPP-RTK: from common-view to all-in-view GNSS networks / Baocheng Zhang in Journal of geodesy, vol 96 n° 12 (December 2022)  

Permalink

A fast satellite selection algorithm for multi-GNSS marine positioning based on improved particle swarm optimisation / Xiaoguo Guan in Survey review, vol 54 n° 387 (November 2022)  

Permalink

PPP–RTK theory for varying transmitter frequencies with satellite and terrestrial positioning applications / Peter J.G. Teunissen in Journal of geodesy, vol 96 n° 11 (November 2022)  

Permalink

Unification of GNSS CORS coordinates in Thailand / Somchai Kriengkraiwasin in Survey review, vol 54 n° 387 (November 2022)  

Permalink

An efficient method to compensate receiver clock jumps in real-time precise point positioning / Shaoguang Xu in Remote sensing, vol 14 n° 20 (October-2 2022)  

Permalink

PPP rapid ambiguity resolution using Android GNSS raw measurements with a low-cost helical antenna / Xingxing Li in Journal of geodesy, vol 96 n° 10 (October 2022)  

Permalink