Accuracy and reliability of tightly coupled GPS/ultra-wideband positioning for surveying in urban environments

Sewer replacement and rehabilitation is the most capital-intensive issue in urban drainage. Currently visual sewer inspection is the primary investigation technique. This information source, however, has a large uncertainty and does not provide the necessary information; therefore, for areas with soft soil conditions (e.g. river delta areas) the potential of a new information source, namely settlement data, is assessed. To analyse settlement, the vertical position of a sewer invert is determined by measuring the position of the manhole cover and the distance between cover and sewer invert. Measurement of the sewer invert is a common practice in the city of Amsterdam, the Netherlands. The use of the measurement data to assess settlement, however, is new. When multiple measurements of the same sewer invert are available over a period of time, the settlement process can be described and future positions can be estimated. Based on these estimations, the occurrence and location of stagnant water zones in the system were predicted for a case study area. The formation of these locations reduces the storage capacity and increases the accumulation of sediments. The settlement model can be used to develop and assess suitable rehabilitation strategies.

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“…As a result, the quality reduces to a systematic error of 5-10 m (GPS without ground stations), see e.g. MacGougan, O'Keefe, and Klukas (2009).…”

Section: Monitoring Sewer System Settlementmentioning

confidence: 99%

Quality and use of sewer invert measurements

Dirksen

Baars²,

Langeveld

et al. 2013

Structure and Infrastructure Engineering

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“…where we assume o n e ≫ r n . Plugging (6) into (9) and multiplying R n i to both sides, we can approximate (6) to be…”

Section: B Navigation Equationmentioning

confidence: 99%

An IMU-Aided Carrier-Phase Differential GPS Positioning System

Zeng¹

2012

Preprint

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We consider the problem of carrier-phase differential GPS positioning for an land vehicle navigation system (LVNS), tightly coupled with an inertial measurement unit (IMU) and a speedometer. The primary focus is to apply Bayesian network to an IMU-aided GPS positioning system based on carrierphase differential GPS. We describe the implementation details of the positioning system that integrates GPS measurements (i.e., pseudo-range, carrier-phase and doppler), IMU measurements, and speedometer measurements. We derive the linearized state process equation and the measurement equation for GPS and speedometer. To account for constraints of land vehicle, we add two more pseudo measurements to ensure the perpendicular velocities close to zero.

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“…The results showed that the ambiguity float solution had increased from half a meter accuracy to sub-meter accuracy, and the convergence time of the ambiguity fixed solution reduced. Thereafter, MacGougan et al [ 16 ] applied GPS/UWB tightly coupled integration in a difficult realistic environment, and maintained sub-meter accuracy. Recently, Shen et al [ 17 ] performed the DGPS/UWB tight integration in RTK for the emerging intelligent transportation systems, but the root mean square (RMS) error of the proposed method was still large.…”

Section: Introductionmentioning

confidence: 99%

Multi-GNSS Precise Point Positioning with UWB Tightly Coupled Integration

Huang

Jin

et al. 2022

Sensors

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Global Navigation Satellite Systems (GNSSs) can provide high-precision positioning services, which can be applied to fields including navigation and positioning, autonomous driving, unmanned aerial vehicles and so on. However, GNSS signals are easily disrupted in complex environments, which results in a positioning performance with a significantly inferior accuracy and lengthier convergence time, particularly for the single GNSS system. In this paper, multi-GNSS precise point positioning (PPP) with tightly integrating ultra-wide band (UWB) technology is presented to implement fast and precise navigation and positioning. The validity of the algorithm is evaluated by a set of GNSS and UWB data. The statistics indicate that multi-GNSS/UWB integration can significantly improve positioning performance in terms of the positioning accuracy and convergence time. The improvement of the positioning performance for the GNSS/UWB tightly coupled integration mainly concerns the north and east directions, and to a lesser extent, the vertical direction. Furthermore, the convergence performance of GNSS/UWB solution is analyzed by simulating GNSS signal interruption. The reliability and robustness of GNSS/UWB solution during GNSS signal interruption is verified. The results show that multi-GNSS/UWB solution can significantly improve the accuracy and convergence speed of PPP.

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Accuracy and reliability of tightly coupled GPS/ultra-wideband positioning for surveying in urban environments

Cited by 18 publications

References 10 publications

Quality and use of sewer invert measurements

Quality and use of sewer invert measurements

An IMU-Aided Carrier-Phase Differential GPS Positioning System

Multi-GNSS Precise Point Positioning with UWB Tightly Coupled Integration

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