Study on Differential GPS Positioning Methods

Shao, Mingqin; Sui, Xiuping

doi:10.1109/csma.2015.51

Cited by 21 publications

(10 citation statements)

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“…com/de/product/d-rtk-2-high-precision-gnss-mobile-station, accessed on 25 August 2021). An overview of D-GPS systems and their performance can be found in [11].…”

Section: Related Workmentioning

confidence: 99%

A Single-Copter UWB-Ranging-Based Localization System Extendable to a Swarm of Drones

Steup

Beckhaus

Mostaghim

2021

Drones

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This paper presents a single-copter localization system as a first step towards a scalable multihop drone swarm localization system. The drone was equipped with ultrawideband (UWB) transceiver modules, which can be used for communication, as well as distance measurement. The location of the drone was detected based on fixed anchor points using a single type of UWB transceiver. Our aim is to create a swarm localization system that enables drones to switch their role between an active swarm member and an anchor node to enhance the localization of the whole swarm. To this end, this paper presents our current baseline localization system and its performance regarding single-drone localization with fixed anchors and its integration into our current modular quadcopters, which was designed to be easily extendable to a swarm localization system. The distance between each drone and the anchors was measured periodically, and a specially tailored gradient descent algorithm was used to solve the resulting nonlinear optimization problem. Additional copter and wireless-specific adaptations were performed to enhance the robustness. The system was tested with a Vicon system as a position reference and showed a high precision of 0.2 m with an update rate of <10 Hz. Additionally, the system was integrated into the FINken copters of the SwarmLab and evaluated in multiple outdoor scenarios. These scenarios showed the generic usability of the approach, even though no accurate precision measurement was possible.

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“…com/de/product/d-rtk-2-high-precision-gnss-mobile-station, accessed on 25 August 2021). An overview of D-GPS systems and their performance can be found in [11].…”

Section: Related Workmentioning

confidence: 99%

A Single-Copter UWB-Ranging-Based Localization System Extendable to a Swarm of Drones

Steup

Beckhaus

Mostaghim

2021

Drones

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“…According to the difference of correction information from the reference stations, differential positioning can be divided into position differential positioning, pseudo-range differential positioning, and carrier phase differential positioning [13]. Pseudo-range differential positioning is most widely used and can meet the positioning and navigation requirements of general IoT terminals.…”

Section: Algorithm Principlementioning

confidence: 99%

BeiDou Satellite Positioning Method Based on IoT and Edge Computing

Wang

Qiu

2020

Sensors

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The BeiDou navigation satellite system (BDS) developed by China can provide users with high precision, as well as all-weather and real-time positioning and navigation. It can be widely used in many applications. However, new challenges emerge with the development of 5G communication system and Internet of Things (IoT) technologies. The BDS needs to be suitable for the large-scaled terminal scenario and provides higher positioning precision. In this paper, a BeiDou differential positioning method based on IoT and edge computing is proposed. The computational pressure on the data center is offloaded to the edge nodes when the massive positioning requests of IoT terminals need to be processed. To ensure the load balancing of the edge nodes, the resource allocation of the terminal positioning requests is performed with the improved genetic algorithm, thereby reducing the service delay of the entire edge network. Moreover, the optimized unscented Kalman filter based on the edge node (EUKF) algorithm is used to improve the positioning precision of IoT terminals. The results demonstrate that the proposed positioning method has better positioning performance which can provide the real-time positioning service for the large-scale IoT terminals.

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“…For example, in a forward collision warning application, errors of this magnitude increase the risk of accidents, specially at higher speeds [12,13]. 20 As another example, considering that streets and road lanes have widths between 2.5 and 3.5 m, a lane-level positioning system using only an autonomous single carrier (L1) GNSS receiver would be unreliable since errors and lane widths are in the same order of magnitude. Even though GNSS techniques such as DGNSS (Differential Global Navigation Satellite System), PPP (Pre- 25 cise Point Positioning), or RTK (Real Time Kinematics) respectively provide meter, centimeter, and millimeter accuracy, their performance is also affected by the number of visible satellites and by multipath propagation [14].…”

Section: Introductionmentioning

confidence: 99%

“…35 Positioning accuracy for vehicle safety is classified into three distinct levels: In this paper we propose Cooperative GNSS Positioning System (CooPS), a 45 system designed to provide which-lane accuracy. To obtain this accuracy level, CooPS uses (i) a combination of V2V and V2I communications over the Dedicated Short Range Communications (DSRC) band in a cooperative way, (ii) the well-known differential GNSS through the position vector differencing method, (iii) a novel technique to compute track and across track axes projections, and 50 (iv) the assumption that GPS receivers located in the same road stretch share the same satellite constellation and ephemerids to overcome the low accuracy (of 10.0 m, typically) [20] of L1 GNSS receivers in Single Point Positioning (SPP) mode. One design requirement is to achieve accurate driving using only off-theshelf GNSS receivers and, as a consequence, avoid compatibility issues imposed 55 by additional sensors between vehicular equipment and the embedded GNSS.…”

Section: Introductionmentioning

confidence: 99%