Precise Robust Positioning with Inertially Aided RTK

Scherzinger, B.

doi:10.1002/j.2161-4296.2006.tb00374.x

Cited by 47 publications

(43 citation statements)

References 4 publications

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“…For the tightly-coupled RTK/INS integration, a priori information from INS can be used to reduce the search space of integer ambiguities, and then improve the AR reliability [35]. In this research, the INS predicted position information is used as a virtual measurement.…”

Section: Single-epoch Ambiguity Resolution With Inertial Aidingmentioning

confidence: 99%

High-Accuracy Positioning in Urban Environments Using Single-Frequency Multi-GNSS RTK/MEMS-IMU Integration

et al. 2018

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Abstract:The integration of Global Positioning System (GPS) real-time kinematics (RTK) and an inertial navigation system (INS) has been widely used in many applications, such as mobile mapping and autonomous vehicle control. Such applications require high-accuracy position information. However, continuous and reliable high-accuracy positioning is still challenging for GPS/INS integration in urban environments because of the limited satellite visibility, increasing multipath, and frequent signal blockages. Recently, with the rapid deployment of multi-constellation Global Navigation Satellite System (multi-GNSS) and the great advances in low-cost micro-electro-mechanical-system (MEMS) inertial measurement units (IMUs), it is expected that the positioning performance could be improved significantly. In this contribution, the tightly-coupled single-frequency multi-GNSS RTK/MEMS-IMU integration is developed to provide precise and continuous positioning solutions in urban environments. The innovation-based outlier-resistant ambiguity resolution (AR) and Kalman filtering strategy are proposed specifically for the integrated system to resist the measurement outliers or poor-quality observations. A field vehicular experiment was conducted in Wuhan City to evaluate the performance of the proposed algorithm. Results indicate that it is feasible for the proposed algorithm to obtain high-accuracy positioning solutions in the presence of measurement outliers. Moreover, the tightly-coupled single-frequency multi-GNSS RTK/MEMS-IMU integration even outperforms the dual-frequency multi-GNSS RTK in terms of AR and positioning performance for short baselines in urban environments.

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Section: Single-epoch Ambiguity Resolution With Inertial Aidingmentioning

confidence: 99%

High-Accuracy Positioning in Urban Environments Using Single-Frequency Multi-GNSS RTK/MEMS-IMU Integration

et al. 2018

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“…For example, Wu (2003) and Skaloud (1998) considered ADOPs in case (single-frequency) GPS data are integrated with INS data. Scherzinger (2000Scherzinger ( , 2001 used the ADOP concept to examine the impact of inertial aiding on RTK ambiguity precision during GPS outages. Lee et al (2002Lee et al ( , 2005 investigated the effect on ADOP of integrating GPS with pseudolites and inertial navigation systems.…”

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confidence: 99%

ADOP in closed form for a hierarchy of multi-frequency single-baseline GNSS models

Odijk

Teunissen

2008

J Geod

109

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Successful carrier phase ambiguity resolution is the key to high-precision positioning with Global Navigation Satellite Systems (GNSS). The ambiguity dilution of precision (ADOP) is a well-known scalar measure which can be used to infer the strength of the GNSS model for carrier phase ambiguity resolution. In this contribution we present analytical closed-form expressions for the ADOP. This will be done for a whole class of different multifrequency single baseline models. These models include the geometry-fixed, the geometry-free and the geometry-based models, respectively. And within the class of geometry-based models, we discriminate between short and long observation time spans, and between stationary and moving receivers. The easy-to-use ADOP expressions can be applied to infer the contribution of various GNSS model factors. They comprise, for instance, the type, the number and the precision of the GNSS observations, the number and selection of frequencies, the presence of atmospheric disturbances, the length of the observation time span and the length of the baseline.

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“…In the TC integration, the GNSS pseudo range, delta range, and carrier phase measurements are processed directly in the INS KF (Scherzinger, 2000). The primary advantage of this integration is that raw GNSS measurements can still be used to update the INS when fewer than four satellites are available.…”

Section: Integrated Pos Data Processingmentioning

confidence: 99%

The Direct Georeferencing Application and Performance Analysis of Uav Helicopter in GCP-Free Area

Lo¹,

Tsai

Chiang

et al. 2015

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Commission VI, WG VI/4 KEY WORDS: Direct Georeferencing, INS, GNSS, UAV, Helicopter ABSTRACT:There are many disasters happened because the weather changes extremely in these years. To facilitate applications such as environment detection or monitoring becomes very important. Therefore, the development of rapid low cost systems for collecting near real-time spatial information is very critical. Rapid spatial information collection has become an emerging trend for remote sensing and mapping applications. This study develops a Direct Georeferencing (DG) based Unmanned Aerial Vehicle (UAV) helicopter photogrammetric platform where an Inertial Navigation System (INS)/Global Navigation Satellite System (GNSS) integrated Positioning and Orientation System (POS) system is implemented to provide the DG capability of the platform. The performance verification indicates that the proposed platform can capture aerial images successfully. A flight test is performed to verify the positioning accuracy in DG mode without using Ground Control Points (GCP). The preliminary results illustrate that horizontal DG positioning accuracies in the x and y axes are around 5 meter with 100 meter flight height. The positioning accuracy in the z axis is less than 10 meter. Such accuracy is good for near real-time disaster relief. The DG ready function of proposed platform guarantees mapping and positioning capability even in GCP free environments, which is very important for rapid urgent response for disaster relief. Generally speaking, the data processing time for the DG module, including POS solution generalization, interpolation, Exterior Orientation Parameters (EOP) generation, and feature point measurements, is less than 1 hour. * M.L.Tsai -taurus.bryant@msa.hinet.net

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Precise Robust Positioning with Inertially Aided RTK

Cited by 47 publications

References 4 publications

High-Accuracy Positioning in Urban Environments Using Single-Frequency Multi-GNSS RTK/MEMS-IMU Integration

High-Accuracy Positioning in Urban Environments Using Single-Frequency Multi-GNSS RTK/MEMS-IMU Integration

ADOP in closed form for a hierarchy of multi-frequency single-baseline GNSS models

The Direct Georeferencing Application and Performance Analysis of Uav Helicopter in GCP-Free Area

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