GNSS Carrier Phase Anomaly Detection and Validation for Precise Land Vehicle Positioning

Won, Daehee; Ahn, Jiyun; Lee, Eunsung; Heo, Moon Beom; Sung, Sangkyung; Lee, Young Jae

doi:10.1109/tim.2015.2415091

Cited by 19 publications

(4 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…For solution 1, Doppler measurements from GNSS receiver were employed to reduce the impact of receiver noise and high-frequency multipath on code pseudoranges via a smoothing technique referred to as Doppler-smoothing [3]- [5]. While carrier-phase, together with pseudorange of L1 frequency, offers a promise of highly precise position estimate via real-time kinematic (RTK) in an open area environment [6], [7]. In urban environments, surrounding buildings may partially block or reflect satellite signals, which further decreases the positioning accuracy [8], [9].…”

Section: Related Workmentioning

confidence: 99%

A Tightly Coupled Integration Approach for Cooperative Positioning Enhancement in DSRC Vehicular Networks

Yan

Bajaj

Rabiee

et al. 2022

IEEE Trans. Intell. Transport. Syst.

View full text Add to dashboard Cite

Intelligent transportation system significantly relies on accurate positioning information of land vehicles for both safety and non-safety related applications, such as hard-braking ahead warning and red-light violation warning. However, existing Global Navigation Satellite System (GNSS) based solutions suffer from positioning performance degradation in challenging environments, such as urban canyons and tunnels. In this paper, we focus on the positioning performance enhancement of land vehicles via cooperative positioning under a partial GNSS environment in a Vehicular Ad-hoc NETwork (VANET). The availability of Time-of-Flight (ToF) based inter-vehicle or vehicle-to-infrastructure ranges is verified via 5.9 GHz Dedicated Short-Range Communication (DSRC) vehicle-to-everything communication with RTS/CTS unicast mechanism. An inertial navigation sensor aided, tightly coupled integration approach for land vehicle cooperative positioning using DSRC ToF ranges and carrier frequency offset range-rates is proposed, where a digital map is used to constrain the position estimates. If available, the GNSS pseudorange and Doppler shift under partial GNSS environment can also be incorporated. A Rao-Blackwellized particle filter is utilized to estimate the unknown variables allowing for reduced computational complexity in comparison with the conventional particle filter. The posterior Cramer-Rao lower bound is also derived to give a theoretical performance guideline. Both simulation and experimental results show the validity of our proposed approach.

show abstract

Section: Related Workmentioning

confidence: 99%

A Tightly Coupled Integration Approach for Cooperative Positioning Enhancement in DSRC Vehicular Networks

Yan

Bajaj

Rabiee

et al. 2022

IEEE Trans. Intell. Transport. Syst.

View full text Add to dashboard Cite

show abstract

“…In this process, the position and time deviation of a satellite are first calculated from the observed ephemeris file. The rover and base stations receive the pseudorange and carrier phase measurements from the satellites (Won et al 2015) where P P f and Φ L f represent GNSS pseudorange and carrier phase measurements in meters at frequency f , respectively;…”

Section: Moving Base Rtk Position Algorithmmentioning

confidence: 99%

Adaptive Kalman filter based on integer ambiguity validation in moving base RTK

et al. 2022

View full text Add to dashboard Cite

In high-precision dynamic positioning, it is necessary to ensure the positioning accuracy and reliability of the navigation system, especially for safety–critical applications, such as intelligent vehicle navigation. In the face of a complex observation environment, when the global navigation satellite system (GNSS) uses carrier phase observations for high-precision relative positioning, ambiguity resolution will be affected, and it is difficult to estimate all ambiguities. In addition, when the GNSS signal quality and measurement noise level are difficult to predict in an environment with many occlusions, the received satellite observations are prone to very large errors, resulting in apparent deviations in the positioning solution. However, traditional positioning algorithms assume that the measurement noise is constant, which is unrealistic. This will cause incorrect ambiguity resolution, lead to meter-level positioning errors, reduce the reliability of the system, and increase the integrity risk of the system. We proposed an innovative adaptive Kalman filter based on integer ambiguity validation (IAVAKF) to improve the efficiency of ambiguity resolution (AR) and positioning accuracy. The partial ambiguity resolution (PAR) method is applied to solve the integer ambiguities. Then, the accuracy of the fixed ambiguity is verified by the ambiguity success rate. Taking the ambiguity success rate as a dynamic adjustment factor, the measurement noise matrix and variance–covariance matrix of the state estimation is adaptively adjusted at each time interval in the Kalman filter to provide a smoothing effect for filtering. The optimal Kalman filter gain matrix is obtained to improve positioning accuracy and reliability. As a result, the static and dynamic vehicle experiments show that the positioning accuracy of the proposed IAVAKF is improved by 26% compared with the KF. Through the IAVAKF, a more realistic PL can be obtained and applied to evaluate the integrity of the navigation system in the position domain. It can reduce the false alarm rate by 2.45% and 1.85% in the horizontal and vertical directions, respectively.

show abstract

“…GNSS has been widely applied in land vehicle navigation [19,20,21,22]. GNSS positioning accuracy can achieve centimeter to millimeter levels with appropriate methods [23,24].…”

Section: Fundamentals Of Gnss/ins Integrationmentioning

confidence: 99%

Implementation and Analysis of Tightly Coupled Global Navigation Satellite System Precise Point Positioning/Inertial Navigation System (GNSS PPP/INS) with Insufficient Satellites for Land Vehicle Navigation

Liu

Gao

et al. 2018

Sensors

View full text Add to dashboard Cite

This paper implements and analyzes a tightly coupled single-frequency global navigation satellite system precise point positioning/inertial navigation system (GNSS PPP/INS) with insufficient satellites for land vehicle navigation using a low-cost GNSS receiver and a microelectromechanical system (MEMS)-based inertial measurement unit (IMU). For land vehicle navigation, it is inevitable to encounter the situation where insufficient satellites can be observed. Therefore, it is necessary to analyze the performance of tightly coupled integration in a GNSS-challenging environment. In addition, it is also of importance to investigate the least number of satellites adopted to improve the performance, compared with no satellites used. In this paper, tightly coupled integration using low-cost sensors with insufficient satellites was conducted, which provided a clear view of the improvement of the solution with insufficient satellites compared to no GNSS measurements at all. Specifically, in this paper single-frequency PPP was implemented to achieve the best performance, with one single-frequency receiver. The INS mechanization was conducted in a local-level frame (LLF). An extended Kalman filter was applied to fuse the two different types of measurements. To be more specific, in PPP processing, the atmosphere errors are corrected using a Saastamoinen model and the Center for Orbit Determination in Europe (CODE) global ionosphere map (GIM) product. The residuals of atmosphere errors are not estimated to accelerate the ambiguity convergence. For INS error mitigation, velocity constraints for land vehicle navigation are adopted to limit the quick drift of a MEMS-based IMU. Field tests with simulated partial and full GNSS outages were conducted to show the performance of tightly coupled GNSS PPP/INS with insufficient satellites: The results were classified as long-term (several minutes) and short-term (less than 1 min). The results showed that generally, with GNSS measurements applied, although the number of satellites was not enough, the solution still could be improved, especially with more than three satellites observed. With three GPS satellites used, the horizontal drift could be reduced to a few meters after several minutes. The 3D position error could be limited within 10 m in one minute when three GPS satellites were applied. In addition, a field test in an urban area where insufficient satellites were observed from time to time was also conducted to show the limited solution drift.

show abstract

GNSS Carrier Phase Anomaly Detection and Validation for Precise Land Vehicle Positioning

Cited by 19 publications

References 18 publications

A Tightly Coupled Integration Approach for Cooperative Positioning Enhancement in DSRC Vehicular Networks

A Tightly Coupled Integration Approach for Cooperative Positioning Enhancement in DSRC Vehicular Networks

Adaptive Kalman filter based on integer ambiguity validation in moving base RTK

Implementation and Analysis of Tightly Coupled Global Navigation Satellite System Precise Point Positioning/Inertial Navigation System (GNSS PPP/INS) with Insufficient Satellites for Land Vehicle Navigation

Contact Info

Product

Resources

About