GNSS Odometry: Precise Trajectory Estimation Based on Carrier Phase Cycle Slip Estimation

Suzuki, Taro

doi:10.1109/lra.2022.3182795

Cited by 10 publications

(5 citation statements)

References 31 publications

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“…In [ 26 ], the authors discussed a comparative evaluation of GNSS positioning based on graph-based optimization with that based on least-squares-based positioning and extended Kalman filter. Several applications of time-differenced carrier phases (TDCP) to FGO have also been studied [ 27 , 28 , 29 ]. The study by [ 30 ] implemented precise point positioning using carrier phase measurements with graph optimization and compared it with Kalman-filter-based implementation.…”

Section: Related Researchesmentioning

confidence: 99%

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Precise Position Estimation Using Smartphone Raw GNSS Data Based on Two-Step Optimization

Suzuki

2023

Sensors

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This paper presents a high-precision positioning method using raw global navigation satellite system (GNSS) observations from smartphones in the Google smartphone decimeter challenge (GSDC). Compared to commercial GNSS receivers, smartphone GNSS observations are noisy owing to antenna limitations, making it difficult to apply conventional high-precision positioning methods. In addition, it is important to exclude outliers in GSDC because GSDC includes data in environments where GNSS is shielded, such as tunnels and elevated structures. Therefore, this study proposes a smartphone positioning method based on a two-step optimization method, using factor graph optimization (FGO). Here, the velocity and position optimization process are separated and the velocity is first estimated from Doppler observations. Then, the outliers of the velocity estimated by FGO are excluded, while the missing velocity is interpolated. In the next position-optimization step, the velocity estimated in the previous step is adopted as a loose state-to-state constraint and the position is estimated using the time-differenced carrier phase (TDCP), which is more accurate than Doppler, but less available. The final horizontal positioning accuracy was 1.229 m, which was the first place, thus demonstrating the effectiveness of the proposed method.

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Section: Related Researchesmentioning

confidence: 99%

“…The M-estimator was used to reject the multipath error of Doppler measurements during the optimization [ 27 ]. The Huber function was adopted as the influence function of the M-estimator.…”

Section: Velocity-estimation Stepmentioning

confidence: 99%

Precise Position Estimation Using Smartphone Raw GNSS Data Based on Two-Step Optimization

Suzuki

2023

Sensors

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“…At the same time, it is insensitive to cycle slips of the same size or special combination cycle slips on the dual-frequency, and it is prone to missed or false detections. Recently, scholars 24 have made new attempts to detect cycle slips through graphical structural constraints. With the development of navigation systems, many studies have been conducted on the combination of GPS and BDS multi-frequency 25 .…”

Section: Introductionmentioning

confidence: 99%

GPS/BDS triple-frequency cycle slip detection and repair based on moving window global search method

Wang,

Huang

2024

Sci Rep

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Cycle slip detection and repair are crucial steps in achieving high accuracy in Global Navigation Satellite System (GNSS) data processing. The use of Global Positioning System (GPS) and BeiDou Navigation Satellite System (BDS) triple frequency observations allows for more accurate detection and repair of cycle slips compared to single or dual frequency. This study presents a moving window global search method by selecting three sets of combined coefficients to construct geometry-free (GF) models to minimize the influence of the ionosphere, using a moving window to update the standard deviation of cycle slip estimation, applying the "3 $$\upsigma$$ σ " criterion to constrain the range, and utilizing a global search method to detect and repair triple-frequency cycle slips. Through five sets of 1 Hz GNSS data experiments, the results demonstrate the effectiveness of this method in determining the position and size of triple-frequency cycle slips while avoiding multi-value problems. The detection success rate for GPS ranges from 98.0 to 100.0%, while BDS ranges from 92.0 to 100.0%. On average, GPS achieves a detection rate of 99.2%, and BDS reaches 96.7%, which is 0.8% and 1.8% higher than the direct rounding method, respectively. Compared to existing methods, it is also effective for the vast majority of small cycle slips within 2 cycles.

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“…Recently, some scholars have made new attempts. Suzuki considered a factor graph structure that included cycle slip factors using time differences of carrier phase observations [ 17 ]. The experimental results show that the cycle slip can be properly detected, estimated, and corrected by graph optimization.…”

Section: Introductionmentioning

confidence: 99%

A Cycle Slip Detection and Repair Method Based on Inertial Aiding for BDS Triple-Frequency Signals

Sun

et al. 2023

Sensors

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Cycle slip detection and repair is a prerequisite to obtain high-precision positioning based on a carrier phase. Traditional triple-frequency pseudorange and phase combination algorithm are highly sensitive to the pseudorange observation accuracy. To solve the problem, a cycle slip detection and repair algorithm based on inertial aiding for a BeiDou navigation satellite system (BDS) triple-frequency signal is proposed. To enhance the robustness, the INS-aided cycle slip detection model with double-differenced observations is derived. Then, the geometry-free phase combination is united to detect the insensitive cycle slip, and the optimal coefficient combination is selected. Furthermore, the L2-norm minimum principle is used to search and confirm the cycle slip repair value. To correct the INS error accumulated over time, the extended Kalman filter based on the BDS/INS tightly coupled system is established. The vehicular experiment is conducted to evaluate the performance of the proposed algorithm from a few aspects. The results indicate that the proposed algorithm can reliably detect and repair all cycle slips that occur in one cycle, including the small and insensitive cycle slips as well as the intensive and continuous cycle slips. Additionally, in signal-challenged environments, the cycle slips occurring 14 s after a satellite signal outage can be correctly detected and repaired.

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GNSS Odometry: Precise Trajectory Estimation Based on Carrier Phase Cycle Slip Estimation

Cited by 10 publications

References 31 publications

Precise Position Estimation Using Smartphone Raw GNSS Data Based on Two-Step Optimization

Precise Position Estimation Using Smartphone Raw GNSS Data Based on Two-Step Optimization

GPS/BDS triple-frequency cycle slip detection and repair based on moving window global search method

A Cycle Slip Detection and Repair Method Based on Inertial Aiding for BDS Triple-Frequency Signals

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