Detection and Correction of Doppler Biases in Kalman Filter-based Positioning

Mouri, Atsushi; Kubo, Yukihiro; Sugimoto, Sueo

doi:10.5687/sss.2015.156

Cited by 2 publications

(2 citation statements)

References 5 publications

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“…The bias is extracted by subtracting the delta-ranges form the range-rates of the satellite, and has the rectangular shape whose length is from epoch 60 to 280 and size is about 10 [m/s]. [8]. In general, Doppler shift frequency observable is derived from the change of the frequency of the received signal caused by the relative motion of the GNSS satellite and the receiver.…”

Section: Doppler Bias Samplementioning

confidence: 99%

“…In such case, the positioning algorithms which utilize the Doppler measurement have large positioning errors. Actually we had a vehicle positioning error in real test drives under open sky environment [8]. Therefore, to keep the positioning accuracy high, it is important to detect and correct or exclude the outlier of the Doppler measurement.…”

Section: Introductionmentioning

confidence: 99%

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Detection and Correction of Doppler Outliers in Kalman Filter-based Positioning

Mouri

Kubo

Sugimoto

et al. 2016

Transactions of ISCIE

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In this paper, we propose methods of detecting Doppler outliers which cause positioning errors at Doppler-aided GNSS (Global Navigation Satellite System) positioning, and correcting the errors. We apply the existing detection method based on the innovation process in Kalman filtering to Doppler outlier problems, and we propose a novel detection method based on the measurements by the difference between C/A code pseudoranges and Doppler shift range-rates. Both methods are based on chi-squared tests. We apply two correction methods which are Doppler bias exclusion, or the estimation for detected anomalies. The efficient detection of anomalous observables can be developed to RAIM (Receiver Autonomous Integrity Monitoring), and useful to achieve higher accuracy positioning for increasing satellite signals by multi-frequencies and multi-GNSSs. Doppler shift observables are utilized on a priority basis even in urban areas because of immunity to cycleslip and continuous availability, however unexpected Doppler outliers prone to cause positioning errors. The experimental results of positioning by using real receiver data show the feasibility of the proposed detection and correction methods.

show abstract

Section: Doppler Bias Samplementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Detection and Correction of Doppler Outliers in Kalman Filter-based Positioning

Mouri

Kubo

Sugimoto

et al. 2016

Transactions of ISCIE

Self Cite

View full text Add to dashboard Cite

show abstract

Accuracy Analysis of Single Point Positioning Using Doppler Smoothed Pseudorange Observations

张¹

2017

GST

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The C/A code observations have large noise and are easily contaminated by multipath errors. By contrast, the Doppler values have good accuracy and are not disturbed by multipath. The Doppler smoothed pseudorange (DSPR) is used to improve the accuracy of pseudorange. Experiments were carried out in the multipath and multipath-free environments. Results show that the DSPR can improve the positioning accuracy. Especially in the multipath environment, the DSPR can improve the accuracy by 26%, 30% and 6% in east, north and up directions, respectively.

show abstract

Detection and Correction of Doppler Biases in Kalman Filter-based Positioning

Cited by 2 publications

References 5 publications

Detection and Correction of Doppler Outliers in Kalman Filter-based Positioning

Detection and Correction of Doppler Outliers in Kalman Filter-based Positioning

Accuracy Analysis of Single Point Positioning Using Doppler Smoothed Pseudorange Observations

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