Parity space methods for autonomous fault detection and exclusion using GPS carrier phase

Pervan, Boris; Lawrence, David G.; Cohen, Clark E.; Parkinson, Bradford W.

doi:10.1109/plans.1996.509141

Cited by 33 publications

(21 citation statements)

References 4 publications

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“…Accuracy is often enhanced by mitigating multipath error (Lentmaier 2008). Such techniques propose exclusion procedures to avoid using corrupted data (Pervan 1996). Pseudo-range reliability can be qualified by the SNR (Signal to Noise Ratio) or the elevation angle (Wang 2007).…”

Section: Satellite-based Localization In Urban Environmentsmentioning

confidence: 99%

Toward accurate localization in guided transport: Combining GNSS data and imaging information

Marais

Meurie

Attia

et al. 2014

Transportation Research Part C: Emerging Technologies

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Global Navigation Satellite Systems (GNSS) are widely spread (with Global Positioning System -GPS) in intelligent transport systems and offer a low cost, continuous and global solution for positioning. Unfortunately, urban users are often the most demanding of accurate localization but receive a degraded service because of signal propagation conditions. Several mitigation solutions can be developed. We propose, within CAPLOC project (2010)(2011)(2012)(2013) to deal with inaccuracy by associating image processing techniques and signal propagation knowledge. In this paper, we focus on the contribution of image processing in more accurate position estimation. Thus, we use a laboratory vehicle, which is equipped with a fisheye camera and two GNSS receivers. The camera is located on the roof and oriented upwards to capture images of the sky. The GNSS receivers are used to obtain raw data, the position of the vehicle and the reference trajectory. The proposed approach consists in determining where satellites are located in the fisheye image, and then excluding those located in non-sky regions when calculating the position. For that, the strategy is based on an image simplification step coupled with a pixels classification. The image-based exclusion procedure is compared with the classical one based on the application of a threshold on carrier-to-noise (CN0) ratio to separate LOS and NLOS signals. Accuracy improvement is satisfying with the CN0-based method and show an improvement from 13m to 4,5m. Image-based detection shows mixed improvements but promising: good in a static area and too harsh in another configuration of the scenario.

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Section: Satellite-based Localization In Urban Environmentsmentioning

confidence: 99%

Toward accurate localization in guided transport: Combining GNSS data and imaging information

Marais

Meurie

Attia

et al. 2014

Transportation Research Part C: Emerging Technologies

View full text Add to dashboard Cite

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“…Given the full-set of n measurements z 0 , the information about the faults is carried only by the associated n-m by 1 parity vector p, which is defined using Equation (8.1) (Pervan et al, 1996;Sturza, 1989):…”

Section: Po S T E R I O R P Ro B a B I L I T Y O F Fa U Lt O C C U R mentioning

confidence: 99%

Bayesian Fault-Tolerant Position Estimator and Integrity Risk Bound for GNSS Navigation

et al. 2014

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. This substantial improvement in measurement redundancy has the potential to radically advance receiver autonomous integrity monitoring (RAIM) performance. However, regardless of the number of satellites, the performance of existing RAIM methods is sensitive to the assumed prior probabilities of individual fault hypotheses. In this paper, a new method is developed using Bayes' theorem to generate upper bounds on posterior probabilities of individual fault hypotheses given current user measurements. These bounds are used in a Bayesian faulttolerant position estimator (FTE) that minimizes integrity risk. The detection test statistic is a measurement-based integrity risk bound, which is directly compared with a pre-specified risk requirement. The associated challenge of quantifying continuity risk is resolved using a bounding approach, which is also detailed in this work. The new Bayesian FTE method is shown to be more robust to uncertainty in prior probability of fault occurrence than existing RAIM methods. K E Y

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“…The version presented in Ref. (5) is used to detect and exclude failures for the least-squares method based on single-differenced measurements. The carrierphase integer ambiguities are assumed to be known.…”

Section: Introductionmentioning

confidence: 99%

Integrity monitoring of fixed ambiguity Precise Point Positioning (PPP) solutions

Jokinen

Feng

Schuster

et al. 2013

Geo-spatial Information Science

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Traditional positioning methods, such as conventional Real Time Kinematic (cRTK) rely upon local reference networks to enable users to achieve high-accuracy positioning. The need for such relatively dense networks has significant cost implications. Precise Point Positioning (PPP) on the other hand is a positioning method capable of centimeter-level positioning without the need for such local networks, hence providing significant cost benefits especially in remote areas. This paper presents the state-of-the-art PPP method using both GPS and GLONASS measurements to estimate the float position solution before attempting to resolve GPS integer ambiguities. Integrity monitoring is carried out using the Imperial College Carrier-phase Receiver Autonomous Integrity Monitoring method. A new method to detect and exclude GPS base-satellite failures is developed. A base-satellite is a satellite whose measurements are differenced from other satellite's measurements when using between-satellite-differenced measurements to estimate position. The failure detection and exclusion methods are tested using static GNSS data recorded by International GNSS Service stations both in static and dynamic processing modes. The results show that failure detection can be achieved in all cases tested and failure exclusion can be achieved for static cases. In the kinematic processing cases, failure exclusion is more difficult because the higher noise in the measurement residuals increases the difficulty to distinguish between failures associated with the base-satellite and other satellites.

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Parity space methods for autonomous fault detection and exclusion using GPS carrier phase

Cited by 33 publications

References 4 publications

Toward accurate localization in guided transport: Combining GNSS data and imaging information

Toward accurate localization in guided transport: Combining GNSS data and imaging information

Bayesian Fault-Tolerant Position Estimator and Integrity Risk Bound for GNSS Navigation

Integrity monitoring of fixed ambiguity Precise Point Positioning (PPP) solutions

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