Doppler Differential Positioning Technology Using the BDS/GPS Indoor Array Pseudolite System

Gan, Xingli; Yu, Baoguo; Huang, Lu; Jia, Ruicai; Zhang, Heng; Sheng, Chuanzhen; Fan, Guangwei; Wang, Boyuan

doi:10.3390/s19204580

Cited by 26 publications

(18 citation statements)

References 21 publications

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“…Using the observation equation above, public users have difficulty getting their own precise position with only pseudolite carrier phase measurements as result of a lack of pseudolite pseudorange measurements, which includes a large multi-path error, To solve this problem, the KPI (Known Point Initialization [19][20][21]) method has been proposed to achieve integer ambiguity of the pseudolite in advance, and the public user has to wait for a minute at a known precise position, which is very inconvenient for public users in motion. Fortunately, with more than four GNSS satellites available, public users can easily get a precise position, which provides important a priori knowledge for integer ambiguity resolution of a pseudolite in a constrained environment, such as an urban canyon.…”

Section: Integer Ambiguity Resolution and Validationmentioning

confidence: 99%

Precise Point Positioning Algorithm for Pseudolite Combined with GNSS in a Constrained Observation Environment

Sheng

Gan

et al. 2020

Sensors

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In urban canyon environments, Global Navigation Satellite System (GNSS) satellites are heavily obstructed with frequent rise and fall and severe multi-path errors induced by signal reflection, making it difficult to acquire precise, continuous, and reliable positioning information. To meet imperative demands for high-precision positioning of public users in complex environments, like urban canyons, and to solve the problems for GNSS/pseudolite positioning under these circumstances, the Global Navigation Satellite System (GNSS) Precision Point Positioning (PPP) algorithm combined with a pseudolite (PLS) was introduced. The former problems with the pseudolite PPP technique with distributed pseudo-satellites, which relies heavily on known points for initiation and prerequisite for previous high-precision time synchronization, were solved by means of a real-time equivalent clock error estimation algorithm, ambiguity fixing, and validation method. Experiments based on a low-cost receiver were performed, and the results show that in a weak obstructed environment with low-density building where the number of GNSS satellites was greater than seven, the accuracy of pseudolite/GNSS PPP with fixed ambiguity was better than 0.15 m; when there were less than four GNSS satellites in severely obstructed circumstances, it was impossible to obtain position by GNSS alone, but with the support of a pseudolite, the accuracy of PPP was able to be better than 0.3 m. Even without GNSS, the accuracy of PPP could be better than 0.5 m with only four pseudolites. The pseudolite/GNSS PPP algorithm presented in this paper can effectively improve availability with less GNSS or even without GNSS in constrained environments, like urban canyons in cities.

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Section: Integer Ambiguity Resolution and Validationmentioning

confidence: 99%

Precise Point Positioning Algorithm for Pseudolite Combined with GNSS in a Constrained Observation Environment

Sheng

Gan

et al. 2020

Sensors

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“…Lu Huang et al [26] proposed an innovative fingerprint location algorithm for indoor positioning based on array pseudolite, which includes the offline phase and the online phase and needs to collect indoor fingerprints in advance, taking a lot of manpower, and is difficult to maintain. Xingli Gan et al [27] presented a Doppler differential positioning technology using the BeiDou system (BDS)/GPS indoor array pseudolite system, which uses the Doppler difference equation and known point initialization (KPI) to determinate the velocity and position of the receiver.…”

Section: Introductionmentioning

confidence: 99%

RTK/Pseudolite/LAHDE/IMU-PDR Integrated Pedestrian Navigation System for Urban and Indoor Environments

Zhu

Wang

Cao

et al. 2020

Sensors

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This paper presents an evaluation of real-time kinematic (RTK)/Pseudolite/landmarks assistance heuristic drift elimination (LAHDE)/inertial measurement unit-based personal dead reckoning systems (IMU-PDR) integrated pedestrian navigation system for urban and indoor environments. Real-time kinematic (RTK) technique is widely used for high-precision positioning and can provide periodic correction to inertial measurement unit (IMU)-based personal dead reckoning systems (PDR) outdoors. However, indoors, where global positioning system (GPS) signals are not available, RTK fails to achieve high-precision positioning. Pseudolite can provide satellite-like navigation signals for user receivers to achieve positioning in indoor environments. However, there are some problems in pseudolite positioning field, such as complex multipath effect in indoor environments and integer ambiguity of carrier phase. In order to avoid the limitation of these factors, a local search method based on carrier phase difference with the assistance of IMU-PDR is proposed in this paper, which can achieve higher positioning accuracy. Besides, heuristic drift elimination algorithm with the assistance of manmade landmarks (LAHDE) is introduced to eliminate the accumulated error in headings derived by IMU-PDR in indoor corridors. An algorithm verification system was developed to carry out real experiments in a cooperation scene. Results show that, although the proposed pedestrian navigation system has to use human behavior to switch the positioning algorithm according to different scenarios, it is still effective in controlling the IMU-PDR drift error in multiscenarios including outdoor, indoor corridor, and indoor room for different people.

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“…In addition, simulation-based analyses for 3D positioning were also conducted with convergence investigation. There have been different studies that used multi-channel pseudolite-based antenna arrays for indoor applications [16], [17]. Eight multichannels were configured for the system, and it achieved high accuracy.…”

Section: Introductionmentioning

confidence: 99%

“…The second contribution is that it presents a valid method for the successful fixing of the cycle ambiguity problem without a known initial position in indoor experiments. In general, cycle ambiguities have been fixed by using a known initial position for an indoor pseudolite-based system [16]- [19]. However, for the cycle ambiguity resolution process of the Mosaic system, a residual-based test with the mitigation method utilizing the length of the antenna baseline can be applied for fast and robust ambiguity resolution without knowing the initial position of a dynamic user [4], [6], [8].…”

Section: Introductionmentioning

confidence: 99%

Experimental Study of Single-Transmitter-Based Precise Indoor Positioning System

et al. 2020

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A single-transmitter-based positioning system using an antenna array has been designed and developed to minimize the number of transmitters needed for environments where satellite-based navigation systems are unavailable. One of its suitable applications is for indoor navigation. The user receives the signals from the antenna array and calculates the position using the carrier-phase measurements. A key feature of the system is that the number of cycle ambiguity candidates is geometrically bounded. If the length of the antenna baseline is smaller than half the wavelength, the ambiguity resolution process is unnecessary. To improve the positioning performance for practical use, the antenna baseline must be enlarged. Even in this case, the cycle ambiguity resolution issue can be resolved fast and accurately. For instance, there are only nine candidates according to the setting of the study. To investigate the performance of the system, experiments for a dynamic rover using multiple ''pseudolites,'' pseudo-satellite transmitters, were conducted. In addition, low-cost inertial measurement unit (IMU) sensors were combined to investigate the improved positioning accuracy. Experimental results showed that positioning root-mean-square errors were 18 cm and 25 cm with IMU and without IMU, respectively, at the scale of a conventional meeting room. All integer-cycle ambiguities were solved accurately during the experiments, and more than 93% were resolved within 5 s. INDEX TERMS Antenna array, cycle ambiguity resolution, indoor positioning, inertial measurement unit, pseudolite, single-transmitter-based positioning.

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Doppler Differential Positioning Technology Using the BDS/GPS Indoor Array Pseudolite System

Cited by 26 publications

References 21 publications

Precise Point Positioning Algorithm for Pseudolite Combined with GNSS in a Constrained Observation Environment

Precise Point Positioning Algorithm for Pseudolite Combined with GNSS in a Constrained Observation Environment

RTK/Pseudolite/LAHDE/IMU-PDR Integrated Pedestrian Navigation System for Urban and Indoor Environments

Experimental Study of Single-Transmitter-Based Precise Indoor Positioning System

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