A novel method of ambiguity resolution and cycle slip processing for single-frequency GNSS/INS tightly coupled integration system

Chai, Dashuai; Sang, Wengang; Chen, Guoliang; Ning, Yipeng; Xing, Jianping; Yu, Mingwei; Wang, Shengli

doi:10.1016/j.asr.2021.10.007

Cited by 12 publications

(6 citation statements)

References 33 publications

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“…Each meter's scores (1)(2)(3)(4)(5)(6)(7)(8)(9)(10) are summed and averaged to produce a water meter damage index in each subzone. Each subzone's average meter failure index score was then classi ed into ve intervals (Very low, Low, Medium, High, and Very High) with the same classi cation method as determining the meter damage index.…”

Section: Discussionmentioning

confidence: 99%

Integration of Android-Based Survey Application Using Low-Cost GNSS F9R And WebGIS for Real-Time Monitoring of Water Meter Asset

Cahyadi

Handayani

Raharjo

et al. 2023

Preprint

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Population growth in the city of Surabaya encourages local water supply companies PDAM (Perusahaan Daerah Air Minum) Surya Sembada to maintain the desired level of service regarding asset management needs. PDAM already has a meter recording application for record positions and water usage for asset inventory using smartphone internal GNSS and Geodetic GNSS but has low position accuracy. The application is less effective because time-consuming and a long process, so integrate customer data with land and building taxes data as the basis for determining tariffs, it isn't easy to do. These limitations have prompted this research to develop a more effective, cost-effective asset mapping system with more accurate positioning. This study develops an asset management system in android smartphone that uses low-cost GNSS then integrated with WebGIS (Web-based geographic information systems) for mapping and managing PDAM water meter assets. Android applications and WebGIS are connected through a database that uses an API (Application Programming Interface) to communicate between platforms. The low-cost GNSS accuracy showed very good results compared to the Geodetic GNSS. Sub-zone 102, which has customers such as large industries, warehouses, offices, large businesses, and public service offices, shows a very high-risk analysis of asset damage.

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Section: Discussionmentioning

confidence: 99%

Integration of Android-Based Survey Application Using Low-Cost GNSS F9R And WebGIS for Real-Time Monitoring of Water Meter Asset

Cahyadi

Handayani

Raharjo

et al. 2023

Preprint

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show abstract

“…Li et al, 2022;Yao & Wang, 2020;Zeng et al, 2023;Zhao, Hernández-Pajares, Li, Wang, & Yuan, 2020). Moreover, cycle slip detection is commonly enhanced by using an inertial navigation system (INS) with short-term high accuracy and reliability (Altmayer, 2000;Chai et al, 2022;Lee, Wang, & Rizos, 2003;Q. Li, Dong, Wang, Zhang, & Wu, 2021).…”

Section: Introductionmentioning

confidence: 99%

New Approach for Integrity Risk Evaluation Based on Expected Acceptable Region for Carrier-Phase-Based Precise Relative Positioning

Li,

Wang,

et al. 2024

Preprint

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GNSS carrier-phase observation is widely adopted to achieve centimeter-level relative position accuracy in life-critical or mission-critical GNSS applications. Different from code-based relative positioning, carrier-phase-based precise relative position still suffers from insufficient integrity risk evaluation caused by its inherent risk sources such as cycle slips and ambiguity resolution. This paper proposes a novel integrity risk evaluation approach for relative positioning, especially considering cycle slips. To eliminate cycle slips under the condition of concurrency in multiple channels more efficiently, INS-aided information is adopted for cycle slip detection and elimination. To reduce the difficulty of deriving the post-test variance of observations and simplify the process of integrity risk evaluation, the concept of Expected Acceptable Region (EAR) is first proposed to decompose total integrity risk as two independent components, i.e., intra-EAR risk and extra-EAR risk. Different evaluation algorithms are adopted based on the characteristics of different regions. To verify the superiority of the proposed method, numerical experiments have been conducted to simulate the aircraft's precision approaching and landing, where the proposed algorithm is adopted to meet the strict integrity requirements for Sea-based JPALS. It is indicated that the proposed method can provide both conservative and accurate estimation of integrity risk with a small part of the prior probability of cycle slip (i.e., \(\pm 1\)cycle). Compared with carrier-phase-based relative positioning in the ARAIM frame, the proposed method can increase GNSS availability by about 20% with a significant decrease in computation time by about 76%.

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“…GNSS are widely used for positioning and navigation in aviation, maritime, and land vehicle applications [3][4][5][6][7]. However, due to complex environmental factors [8], adverse weather conditions, and multipath effects, GNSS measurements often contain disturbances (see Figure 1a) [9]. Relying solely on GNSS positioning is challenging to meet the integrity and reliability requirements for land vehicle navigation [10].…”

Section: Introductionmentioning

confidence: 99%

A Robust Adaptive Extended Kalman Filter Based on an Improved Measurement Noise Covariance Matrix for the Monitoring and Isolation of Abnormal Disturbances in GNSS/INS Vehicle Navigation

Yin,

Yang,

et al. 2023

Remote Sensing

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Global Navigation Satellite Systems (GNSS) integrated with Inertial Navigation Systems (INS) have been widely applied in many Intelligent Transport Systems. However, due to the influence of various factors, such as complex urban environments, etc., accurately describing the measurement noise statistics of GNSS receivers and inertial sensors is difficult. An inaccurate definition of the measurement noise covariance matrix will lead to the rapid divergence of the position error of the integrated navigation system. To overcome this problem, this paper proposed a Robust Adaptive Extended Kalman Filter (RAKF) method based on an improved measurement noise covariance matrix. By analyzing and considering the position accuracy factors, measurement factor, and position standard deviation in GNSS measurement results, this paper constructed the optimal measurement noise covariance matrix. Based on the Huber model, this paper constructed a two-stage robust adaptive factor expression and obtained the robust adaptive factors with and without abnormal disturbances. And robust adaptive filtering was carried out. To assess the performance of this method, the author conducted experiments on land vehicles by using a self-developed POS system (GNSS/INS combined navigation system). The classic Extended Kalman Filter algorithm (EKF), Adaptive Kalman Filter (AKF) algorithm, Robust Kalman Filter (RKF) algorithm, and the proposed method were compared through data processing. Experimental results show that compared with the classical EKF, AKF, and RKF, the positioning accuracies of the proposed method were improved by 72.43%, 2.54%, and 47.82%, respectively, in the vehicle land experiment. In order to further evaluate the performance of this method, the vehicle data were subjected to different times and degrees of disturbance experiments. Experimental results show that compared with EKF, AKF, and RKF, the heading angle accuracy had obvious advantages, and its accuracy was improved by 34.65%, 31.53%, and 18.36%, respectively. Therefore, this method can effectively monitor and isolate disturbance and improve the robustness, reliability, accuracy, and stability of GNSS/INS integrated navigation systems in complex urban environments.

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A novel method of ambiguity resolution and cycle slip processing for single-frequency GNSS/INS tightly coupled integration system

Cited by 12 publications

References 33 publications

Integration of Android-Based Survey Application Using Low-Cost GNSS F9R And WebGIS for Real-Time Monitoring of Water Meter Asset

Integration of Android-Based Survey Application Using Low-Cost GNSS F9R And WebGIS for Real-Time Monitoring of Water Meter Asset

New Approach for Integrity Risk Evaluation Based on Expected Acceptable Region for Carrier-Phase-Based Precise Relative Positioning

A Robust Adaptive Extended Kalman Filter Based on an Improved Measurement Noise Covariance Matrix for the Monitoring and Isolation of Abnormal Disturbances in GNSS/INS Vehicle Navigation

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