Research on Tightly Coupled Multi-Antenna GNSS/MEMS Single-Frequency Single-Epoch Attitude Determination in Urban Environment

Gao, Ming; Liu, Genyou; Wang, Shengliang; Xiao, Gongwei; Wenhao, Zhao; Lv, Dong

doi:10.3390/rs13142710

Cited by 5 publications

(3 citation statements)

References 25 publications

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“…Furthermore, the DBA technology added in this paper seems to be a very effective means to further improve the positioning accuracy of the GNSS RTK/UWB combination without increasing too much in cost. There also exist large research INS assisted GNSS RTK in a complex environment [47,48] that provides rich attitude information and a greater coverage range. However, compared with the GNSS RTK/UWB/DBA fusion positioning, the corresponding data processing of the GNSS RTK/INS combination is relatively difficult.…”

Section: Discussionmentioning

confidence: 99%

GNSS RTK/UWB/DBA Fusion Positioning Method and Its Performance Evaluation

et al. 2022

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As a significant space–time infrastructure, the Global Navigation Satellite System (GNSS) provides high-precision positioning, navigation, and timing (PNT) information to users all over the world. However, GNSS real-time kinematic (RTK) mobile receiver signal attenuation is obvious in complex environments such as under trees, urban canyons, and indoors, among others, and it is incapable of meeting the demand of multi-level mass users for indoor and outdoor seamless positioning applications. The goal of this study was to address the limitations and vulnerabilities of the GNSS RTK positioning above-mentioned. First, we propose a GNSS RTK/UWB/DBA fusion positioning model and provide detailed algorithm steps for various types of observations. The performance of the GNSS RTK/UWB/DBA fusion positioning under various occlusion environments is then thoroughly evaluated using static and dynamic cart experiments. The experiment results show that as the elevation mask angle increases, the number of available GNSS satellites decreases and the ambiguity resolution success rate decreases; in comparison to GNSS RTK, the proposed GNSS RTK/UWB/DBA fusion positioning model can significantly improve the spatial geometry distribution of observations, reduce the position dilution of precision (PDOP) value, and improve the ambiguity resolution success rate. At an elevation mask angle of 50 degrees, GNSS RTK/UWB/DBA combination positioning can improve the ambiguity resolution success rate by 20% to 60%, and a positioning error less than 5 cm by 20% to 50%. It also indicates that the GNSS RTK/UWB/DBA fusion positioning model has higher positioning accuracy and can effectively improve the availability and reliability of GNSS RTK in a local harsh environment.

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Section: Discussionmentioning

confidence: 99%

GNSS RTK/UWB/DBA Fusion Positioning Method and Its Performance Evaluation

et al. 2022

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“…Furthermore, the combination coefficients should be an integer. The variance of carrier phase can be written as

, where

is the elevation angle, and

is standard carrier phase noise selected as 0.01 cycle [ 38 , 39 ]. Some optimal triple-frequency pseudorange-phase combinations are calculated and listed in Table 1 .…”

Section: Inertial-aided Cycle Slip Detection and Repair For Bds Tripl...mentioning

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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“…Ref. [15] presented a new tightly coupled model that uses a single filter to obtain optimal estimates such as attitude drift, gyro biases, and ambiguities. In addition, a MEMS-attitude-aided quality control method is proposed, and the corresponding numerical test results are shown with an improvement in the ambiguity resolution success rate.…”

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confidence: 99%