Attitude Determination Using Ambiguous GNSS Phase Measurements and Absolute Angular Rate Measurements

Zharkov, M. V.; Veremeenko, K. K.; Антонов, Д. А.; Kuznetsov, I. M.

doi:10.1134/s2075108718040090

Cited by 12 publications

(3 citation statements)

References 1 publication

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“…where Φ j α -the phase of the satellite signal j, measured by the antenna α; ρ j α -the geometric distance from the antenna α to satellite j (m); dρ j e -the error caused by inaccuracy of satellite ephemerides (m); c-the speed of light in vacuum (m/s); dt j -satellite clock error j (s); dT α -receiver clock error α (s); λ-carrier wavelength of the GNSS signal (m); N j α -integer ambiguity of the carrier phase; d j ion -ionospheric delay (m); d j trop -tropospheric delay (m); δ r -phase measurement error caused by receiver noise; and δ mp -range measurement error caused by multipath [25].…”

Section: Model Of Carrier Phase Measurements In Multi-antenna Gnss Re...mentioning

confidence: 99%

Global Navigation Satellite System Spoofing Detection in Inertial Satellite Navigation Systems

Zharkov,

Veremeenko,

Kuznetsov

et al. 2023

Inventions

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The susceptibility of global navigation satellite systems (GNSSs) to interference significantly limits the possibility of their use. From the standpoint of possible consequences, the most dangerous interference is the so-called spoofing. Simultaneously, in most cases of GNSS use, an inertial navigation system (INS) or an attitude and heading reference system (AHRS) is also present on the board of mobile objects. In this regard, the research goal is to assess the possibility of detecting GNSS spoofing in inertial satellite navigation systems. This paper examines the method for detecting GNSS spoofing by combining a pair of commercially available GNSS receivers and antennas with an INS or AHRS. The method is based on a comparison of the double differences of GNSS carrier phase measurements performed by receivers under conditions of resolved integer ambiguity and the values of the range double differences predicted using an INS. GNSS carrier phase integer ambiguity can be resolved using a strapdown inertial navigation system (SINS) or AHRS data. The mathematical model of GNSS phase difference measurements and the SINS-predicted satellite range differences model are given. The proposed algorithm calculates the moving average of the residuals between the SINS-predicted satellite range double differences and the measured GNSS carrier phase double differences. The primary criterion for spoofing detection is the specified threshold excess of the moving average of the double difference residuals. Experimental studies are performed using simulation and hardware-in-the-loop simulation. The experimental results allow us to evaluate the efficiency of the proposed approach and estimate the potential characteristics of the spoofing detection algorithm based on it.

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Section: Model Of Carrier Phase Measurements In Multi-antenna Gnss Re...mentioning

confidence: 99%

Global Navigation Satellite System Spoofing Detection in Inertial Satellite Navigation Systems

Zharkov,

Veremeenko,

Kuznetsov

et al. 2023

Inventions

View full text Add to dashboard Cite

show abstract

“…(25) Considering the impact caused by the second and third terms on the right-hand side of Equation ( 10), navigation accuracy may be minimal. Meanwhile, the quaternion algorithm is a one-sample algorithm, which can be used to obtain the analytic discrete solution of attitude quaternion given in Equation (15). Therefore, the simplified INS update algorithm is given by…”

Section: Ins Dynamic Modelmentioning

confidence: 99%

“…Furthermore, after combining the GNSS with real-time kinematics (RTK) [10], the GNSS/MEMS-INS integrated navigation system can still have sub-meter navigation accuracy when the GNSS signal outages in a short time. Therefore, it is very suitable for the application of vehicle navigation and wearable equipment, such as crewless micro aerial vehicles [11], land vehicle navigation (LVN) [12][13][14][15], mobile mapping systems [16], wearable sports equipment [17,18], and pedestrians [19,20]. In all these applications, an important common problem is the positioning accuracy and the power consumption performance of GNSS/MEMS-INS during the period of GNSS signal or not, which often occurs in different situations, such as boulevard, tunnels, overhead bridges, and urban streets.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Adaptive Low Power Adjustment Scheme for Single-Frequency GNSS/MEMS-IMU/Odometer Integrated Navigation in the Complex Urban Environment

et al. 2021

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Positioning accuracy and power consumption are essential performance indicators of integrated navigation and positioning chips. This paper proposes a single-frequency GNSS/MEMS-IMU/odometer real-time high-precision integrated navigation algorithm with dynamic power adaptive adjustment capability in complex environments. It is implemented in a multi-sensor fusion navigation SiP (system in package) chip. The simplified INS algorithm and the simplified Kalman filter algorithm are adopted to reduce the computation load, and the strategy of adaptively adjusting the data rate and selecting the observation information for measurement update in different scenes and motion modes is combined to realize high-precision positioning and low power consumption in complex scenes. The performance of the algorithm is verified by real-time vehicle experiments in a variety of complex urban environments. The results show that the RMS statistical value of the overall positioning error in the entire road section is 0.312 m, and the overall average power consumption is 141 mW, which meets the requirements of real-time integrated navigation for high-precision positioning and low power consumption. It supports single-frequency GNSS/MEMS-IMU/odometer integrated navigation SiP chip in real-time, high-precision, low-power, and small-volume applications.

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Extended Kalman filter-based robust roll angle estimation method for spinning vehicles

Feng,

Wu,

Zheng

et al. 2024

Heliyon

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Attitude Determination Using Ambiguous GNSS Phase Measurements and Absolute Angular Rate Measurements

Cited by 12 publications

References 1 publication

Global Navigation Satellite System Spoofing Detection in Inertial Satellite Navigation Systems

Global Navigation Satellite System Spoofing Detection in Inertial Satellite Navigation Systems

Dynamic Adaptive Low Power Adjustment Scheme for Single-Frequency GNSS/MEMS-IMU/Odometer Integrated Navigation in the Complex Urban Environment

Extended Kalman filter-based robust roll angle estimation method for spinning vehicles

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