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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 IGN] ambiguïté entière
[Termes IGN] angle d'Euler
[Termes IGN] double différence
[Termes IGN] filtre de Kalman
[Termes IGN] méthode des moindres carrés
[Termes IGN] modèle stochastique
[Termes IGN] orientation de véhicule
[Termes IGN] positionnement cinématique
[Termes IGN] positionnement par GNSS
[Termes IGN] récepteur GNSS
[Termes IGN] simple différence
[Vedettes matières IGN] Traitement de données GNSSRésumé : (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 suggestionNuméro de notice : 21574 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Thèse étrangère Note de thèse : Doctor thesis : Engineering sciences : Stuttgart : 2017 DOI : 10.18419/opus-9239 En ligne : http://dx.doi.org/10.18419/opus-9239 Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=90576 Multi-technique combination of space geodesy observations: Impact of the Jason-2 satellite on the GPS satellite orbits estimation / Myriam Zoulida in Advances in space research, vol 58 n° 7 (October 2016)
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Titre : Multi-technique combination of space geodesy observations: Impact of the Jason-2 satellite on the GPS satellite orbits estimation Type de document : Article/Communication Auteurs : Myriam Zoulida , Auteur ; Arnaud Pollet , Auteur ; David Coulot , Auteur ; Félix Perosanz, Auteur ; Sylvain Loyer, Auteur ; Richard Biancale, Auteur ; Paul Rebischung , Auteur Année de publication : 2016 Article en page(s) : pp 1376 - 1389 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Termes IGN] données Jason
[Termes IGN] orbitographie
[Termes IGN] satellite GPS
[Vedettes matières IGN] Traitement de données GNSSRésumé : (auteur) In order to improve the Precise Orbit Determination (POD) of the GPS constellation and the Jason-2 Low Earth Orbiter (LEO), we carry out a simultaneous estimation of GPS satellite orbits along with Jason-2 orbits, using GINS software. Along with GPS station observations, we use Jason-2 GPS, SLR and DORIS observations, over a data span of 6 months (28/05/2011–03/12/2011). We use the Geophysical Data Records-D (GDR-D) orbit estimation standards for the Jason-2 satellite. A GPS-only solution is computed as well, where only the GPS station observations are used. It appears that adding the LEO GPS observations results in an increase of about 0.7% of ambiguities fixed, with respect to the GPS-only solution. The resulting GPS orbits from both solutions are of equivalent quality, agreeing with each other at about 7 mm on Root Mean Square (RMS). Comparisons of the resulting GPS orbits to the International GNSS Service (IGS) final orbits show the same level of agreement for both the GPS-only orbits, at 1.38 cm in RMS, and the GPS + Jason2 orbits at 1.33 cm in RMS. We also compare the resulting Jason-2 orbits with the 3-technique Segment Sol multi-missions d’ALTimétrie, d’orbitographie et de localisation précise (SSALTO) POD products. The orbits show good agreement, with 2.02 cm of orbit differences global RMS, and 0.98 cm of orbit differences RMS on the radial component. Numéro de notice : A2016-963 Affiliation des auteurs : LASTIG LAREG+Ext (2012-mi2018) Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.asr.2016.06.019 Date de publication en ligne : 22/06/2016 En ligne : http://dx.doi.org/10.1016/j.asr.2016.06.019 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=83580
in Advances in space research > vol 58 n° 7 (October 2016) . - pp 1376 - 1389[article]Quantitative assessment of meteorological and tropospheric Zenith Hydrostatic Delay models / Di Zhang in Advances in space research, vol 58 n° 6 (September 2016)
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Titre : Quantitative assessment of meteorological and tropospheric Zenith Hydrostatic Delay models Type de document : Article/Communication Auteurs : Di Zhang, Auteur ; Jiming Guo, Auteur ; Ming Chen, Auteur ; Junbo Shi, Auteur ; Lv Zhou, Auteur Année de publication : 2016 Article en page(s) : pp 1033 - 1043 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Termes IGN] analyse comparative
[Termes IGN] erreur systématique
[Termes IGN] évaluation
[Termes IGN] modèle atmosphérique
[Termes IGN] modèle numérique
[Termes IGN] radiosondage
[Termes IGN] retard troposphérique
[Termes IGN] retard troposphérique zénithal
[Vedettes matières IGN] Traitement de données GNSSRésumé : (auteur) Tropospheric delay has always been an important issue in GNSS/DORIS/VLBI/InSAR processing. Most commonly used empirical models for the determination of tropospheric Zenith Hydrostatic Delay (ZHD), including three meteorological models and two empirical ZHD models, are carefully analyzed in this paper. Meteorological models refer to UNB3m, GPT2 and GPT2w, while ZHD models include Hopfield and Saastamoinen. By reference to in-situ meteorological measurements and ray-traced ZHD values of 91 globally distributed radiosonde sites, over a four-years period from 2010 to 2013, it is found that there is strong correlation between errors of model-derived values and latitudes. Specifically, the Saastamoinen model shows a systematic error of about −3 mm. Therefore a modified Saastamoinen model is developed based on the “best average” refractivity constant, and is validated by radiosonde data. Among different models, the GPT2w and the modified Saastamoinen model perform the best. ZHD values derived from their combination have a mean bias of −0.1 mm and a mean RMS of 13.9 mm. Limitations of the present models are discussed and suggestions for further improvements are given. Numéro de notice : A2016-593 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1016/j.asr.2016.05.055 En ligne : http://dx.doi.org/10.1016/j.asr.2016.05.055 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=81750
in Advances in space research > vol 58 n° 6 (September 2016) . - pp 1033 - 1043[article]Taking correlations in GPS least squares adjustments into account with a diagonal covariance matrix / Gaël Kermarrec in Journal of geodesy, vol 90 n° 9 (September 2016)
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Titre : Taking correlations in GPS least squares adjustments into account with a diagonal covariance matrix Type de document : Article/Communication Auteurs : Gaël Kermarrec, Auteur ; Steffen Schön, Auteur Année de publication : 2016 Article en page(s) : pp 793 – 805 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Termes IGN] compensation par moindres carrés
[Termes IGN] corrélation
[Termes IGN] données GPS
[Termes IGN] estimateur
[Termes IGN] matrice de covariance
[Termes IGN] matrice diagonale
[Termes IGN] pondération
[Termes IGN] positionnement différentiel
[Termes IGN] positionnement par GPS
[Termes IGN] régression
[Termes IGN] série temporelle
[Vedettes matières IGN] Traitement de données GNSSRésumé : (auteur) Based on the results of Luati and Proietti (Ann Inst Stat Math 63:673–686, 2011) on an equivalence for a certain class of polynomial regressions between the diagonally weighted least squares (DWLS) and the generalized least squares (GLS) estimator, an alternative way to take correlations into account thanks to a diagonal covariance matrix is presented. The equivalent covariance matrix is much easier to compute than a diagonalization of the covariance matrix via eigenvalue decomposition which also implies a change of the least squares equations. This condensed matrix, for use in the least squares adjustment, can be seen as a diagonal or reduced version of the original matrix, its elements being simply the sums of the rows elements of the weighting matrix. The least squares results obtained with the equivalent diagonal matrices and those given by the fully populated covariance matrix are mathematically strictly equivalent for the mean estimator in terms of estimate and its a priori cofactor matrix. It is shown that this equivalence can be empirically extended to further classes of design matrices such as those used in GPS positioning (single point positioning, precise point positioning or relative positioning with double differences). Applying this new model to simulated time series of correlated observations, a significant reduction of the coordinate differences compared with the solutions computed with the commonly used diagonal elevation-dependent model was reached for the GPS relative positioning with double differences, single point positioning as well as precise point positioning cases. The estimate differences between the equivalent and classical model with fully populated covariance matrix were below the mm for all simulated GPS cases and below the sub-mm for the relative positioning with double differences. These results were confirmed by analyzing real data. Consequently, the equivalent diagonal covariance matrices, compared with the often used elevation-dependent diagonal covariance matrix is appropriate to take correlations in GPS least squares adjustment into account, yielding more accurate cofactor matrices of the unknown. Numéro de notice : A2016-654 Affiliation des auteurs : non IGN Thématique : MATHEMATIQUE/POSITIONNEMENT Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1007/s00190-016-0911-z En ligne : http://dx.doi.org/10.1007/s00190-016-0911-z Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=81856
in Journal of geodesy > vol 90 n° 9 (September 2016) . - pp 793 – 805[article]GNSS multipath detection using three-frequency signal-to-noise measurements / Philip R.R. Strode in GPS solutions, vol 20 n° 3 (July 2016)
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Titre : GNSS multipath detection using three-frequency signal-to-noise measurements Type de document : Article/Communication Auteurs : Philip R.R. Strode, Auteur ; Paul D. Groves, Auteur Année de publication : 2016 Article en page(s) : pp 399 - 412 Note générale : Bibliographie Langues : Anglais (eng) Descripteur : [Termes IGN] correction du trajet multiple
[Termes IGN] diffraction
[Termes IGN] rapport signal sur bruit
[Termes IGN] récepteur GNSS
[Termes IGN] récepteur trifréquence
[Vedettes matières IGN] Traitement de données GNSSRésumé : (Auteur) A new technique for detecting GNSS multipath interference by comparing signal-to-noise (SNR) measurements on three frequencies is presented. Depending on the phase lag of the reflected signal with respect to the direct signal, multipath interference can be either constructive or destructive, with a commensurate effect on the measured SNR. However, as the phase lag is frequency dependent, the SNR is perturbed differently on each frequency. Thus, by differencing SNR measurements on different frequencies and comparing the result with that obtained in a low-multipath environment, multipath can be detected. Using three frequencies makes the process more robust. A three-frequency SNR-based multipath detector has been developed and calibrated using measurements from GPS Block IIF satellites in a low-multipath environment. The new detector has been tested in a range of urban environments and its multipath detection capability verified by showing that the MP observables oscillate when the new detection statistic is above a threshold value determined using data collected in a low-multipath environment. The new detector is also sensitive to diffraction. Numéro de notice : A2016-631 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1007/s10291-015-0449-1 En ligne : http://dx.doi.org/10.1007/s10291-015-0449-1 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=81834
in GPS solutions > vol 20 n° 3 (July 2016) . - pp 399 - 412[article]A new method for specular and diffuse pseudorange multipath error extraction using wavelet analysis / Giovanni Pugliano in GPS solutions, vol 20 n° 3 (July 2016)PermalinkImproving the quality of low-cost GPS receiver data for monitoring using spatial correlations / Li Zhang in Journal of applied geodesy, vol 10 n° 2 (June 2016)PermalinkRapid mapping method based on free blocks of surveys / Xianwen Yu in Journal of applied geodesy, vol 10 n° 2 (June 2016)PermalinkAn effective toolkit for the interpolation and gross error detection of GPS time series / X. Wang in Survey review, vol 48 n° 348 (May 2016)PermalinkTowards reliable velocities of permanent GNSS stations / Janusz Bogusz in Reports on geodesy and geoinformatics, vol 100 (May 2016)PermalinkComparative analysis of real-time precise point positioning zenith total delay estimates / F.A. Ahmed in GPS solutions, vol 20 n° 2 (April 2016)PermalinkImpact of the arc length on GNSS analysis results / Simon Lutz in Journal of geodesy, vol 90 n° 4 (April 2016)PermalinkA study on the dependency of GNSS pseudorange biases on correlator spacing / André Hauschild in GPS solutions, vol 20 n° 2 (April 2016)Permalink14 years of GPS tropospheric delays in the French–Italian border region : comparisons and first application in a case study / Domenico Sguerso in Applied geomatics, vol 8 n° 1 (March 2016)PermalinkDetermination of differential code biases with multi-GNSS observations / Ningbo Wang in Journal of geodesy, vol 90 n° 3 (March 2016)Permalink