Development of Precise Point Positioning Algorithm to Support Advanced Driver Assistant Functions for Inland Vessel Navigation

Lass, Christoph; Ziebold, Ralf

doi:10.12716/1001.15.04.09

TransNav

2021

DOI: 10.12716/1001.15.04.09

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Development of Precise Point Positioning Algorithm to Support Advanced Driver Assistant Functions for Inland Vessel Navigation

Christoph Lass¹,

Ralf Ziebold²

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Cited by 3 publications

References 12 publications

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From RTK to PPP-RTK: towards real-time kinematic precise point positioning to support autonomous driving of inland waterway vessels

Ziebold

Lass

2023

GPS Solut

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PPP-RTK is Precise Point Positioning (PPP) using corrections from a ground reference network, which enables single-receiver users with integer ambiguity resolution thereby improving its performance. However, most of the PPP-RTK studies are investigated and evaluated in a static situation or a post-processing mode because of the complexity of implementation in real-time practical applications. Moreover, although PPP-RTK achieves a faster convergence than PPP, it typically needs 30 s or even longer to derive high-accuracy results. We have implemented a real-time PPP-RTK approach based on undifferenced observations and State-Space Representation corrections with a fast convergence of less than 30 s to support autonomous driving of inland waterway vessels. The PPP-RTK performances and their feasibility to support autonomous driving have been evaluated and validated in a real-time inland waterway navigation. It proves the PPP-RTK approach can realize a precise positioning of less than 10 cm in horizontal with a rapid convergence. The convergence time is within 10 s after a normal bridge passing and less than 30 s after a complicated bridge passing. Moreover, the PPP-RTK approach can be extended to outside of the GNSS station network. Even if the location is 100 km away from the border of the GNSS station network, the PPP-RTK convergence time after a bridge passing is also normally less than 30 s. We have realized the first automated entry into a waterway lock for a vessel supported by PPP-RTK and taken the first step toward autonomous driving of inland vessels based on PPP-RTK.

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From RTK to PPP-RTK: towards real-time kinematic precise point positioning to support autonomous driving of inland waterway vessels

Ziebold

Lass

2023

GPS Solut

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A PPP Baseline Approach for Bridge Passing

Lass¹

2023

TransNav

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Review of pose estimation within European ship-automation projects using GNSS-based navigation

Liu

Gehrt

Abel

2022

At - Automatisierungstechnik

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Accurate and reliable navigation systems are necessary to deploy autonomous shipping. For this purpose, georeferenced vehicle-pose information is often generated using sensor data fusion consisting of GNSS data, inertial measurement, and other applicable aiding sensors. This technical overview summarizes current European projects and international work in the field of GNSS-based maritime navigation and introduces and discusses the sensors and methods involved. The review focuses on approaches with proprioceptive sensor technology. Therefore, as a limitation, environment sensing algorithms (e. g., SLAM) are explicitly not included. It is concluded that highly accurate and reliable sensor fusion should include complementary and redundant onboard sensors, which are tightly coupled.

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Development of Precise Point Positioning Algorithm to Support Advanced Driver Assistant Functions for Inland Vessel Navigation

Cited by 3 publications

References 12 publications

From RTK to PPP-RTK: towards real-time kinematic precise point positioning to support autonomous driving of inland waterway vessels

From RTK to PPP-RTK: towards real-time kinematic precise point positioning to support autonomous driving of inland waterway vessels

A PPP Baseline Approach for Bridge Passing

Review of pose estimation within European ship-automation projects using GNSS-based navigation

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