Velocity estimations by combining time-differenced GPS and Doppler observations

Wang, Xingxing; Tu, Rui; Gao, Yaping; Zhang, Rui; Fan, Lihong; Zhang, Pengfei; Han, Junqiang; Lu, Xiaochun

doi:10.1088/1361-6501/ab375f

Cited by 12 publications

(4 citation statements)

References 16 publications

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“…The average velocity derived from the smoothed Doppler measurement can be approximated as an instantaneous velocity for such a small sampling interval [38]. For the BeiDou B1 signal (λ = 19.2 cm), if the dilution of precision is no higher than 2.9, the average velocity can still reach the accuracy of centimeter per second.…”

Section: Computing Success Rate Of Kinematic Me-mafamentioning

confidence: 99%

Kinematic ME-MAFA for Pseudolite Carrier-Phase Ambiguity Resolution in Precise Single-Point Positioning

Guo

Yang

et al. 2020

Sensors

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Precise single-point positioning using carrier-phase measurements can be provided by the synchronized pseudolite system. The primary task of carrier phase positioning is ambiguity resolution (AR) with rapidity and reliability. As the pseudolite system is usually operated in the dense multipath environment, cycle slips may lead the conventional least-squares ambiguity decorrelation adjustment (LAMBDA) method to incorrect AR. A new AR method based on the idea of the modified ambiguity function approach (MAFA), which is insensitive to the cycle slips, is studied in this paper. To improve the model strength of the MAFA and to eliminate the influence of constant multipath biases on the time-average model in static mode, the kinematic multi-epoch MAFA (kinematic ME-MAFA) algorithm is proposed. A heuristic method for predicting the ‘float position’ corresponding to every Voronoi cell of the next epoch, making use of Doppler-based velocity information, is implemented to improve the computational efficiency. If the success rate is very close to 1, it is possible to guarantee reliable centimeter-level accuracy positioning without further ambiguity validation. Therefore, a computing method of the success rate for the kinematic ME-MAFA is proposed. Both the numerical simulations and the kinematic experiment demonstrate the feasibility of the new AR algorithm according to its accuracy and reliability. The accuracy of the horizontal positioning solution is better than 1.7 centimeters in our pseudolite system.

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Section: Computing Success Rate Of Kinematic Me-mafamentioning

confidence: 99%

Kinematic ME-MAFA for Pseudolite Carrier-Phase Ambiguity Resolution in Precise Single-Point Positioning

Guo

Yang

et al. 2020

Sensors

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“…Considering the correlation between observations as well as the time correlation between epochs, the estimation of variance components can significantly improve the accuracy of TDCP/Doppler joint velocity measurements [6,17]. TDCP/Doppler/pseudorange further improves the usability of GNSS velocity measurement in harsh conditions [18].…”

Section: Introductionmentioning

confidence: 99%

Integrated navigation model based on TDCP constrained algorithm

Liu,

Li,

Ning

2023

Meas. Sci. Technol.

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The velocity information estimated by the GNSS receiver is an important element for the dynamic alignment of the inertial navigation system (INS), and it is of great significance to analyze it deeply and meticulously. A variety of GNSS velocity measurement models show different characteristics in a changeable environment, and this status quo is bound to break the monotonous situation in which the Doppler model is widely used. In this regard, this paper applies different GNSS velocity measurement models to SINS dynamic alignment and continuous observation. In addition, aiming at the shortcomings of the traditional time-differenced carrier phase (TDCP) algorithm, an optimization method is deduced from the formula level, and two effective constraint algorithms are given. Then, according to the vehicle test results, comprehensively compare the integrated navigation performance of various velocity measurement models and analyze the improvement effect of the proposed TDCP algorithm. This paper provides a summary for the comprehensive study of GNSS velocity measurement model and the application of optimized carrier phase to integrated navigation, which has certain practical value.

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“…As a result, combining Doppler approach with TDCP method can enable velocity estimation to adapt to poor observation conditions. Wang proposed the method used pseudorange, Doppler and carrier phase for velocity estimation to improve the accuracy of velocimetry (Wang et al, 2019). However, this method did not consider the correlation between the three observations and the time correlation between epochs.…”

Section: Introductionmentioning

confidence: 99%

A Doppler enhanced TDCP algorithm based on terrain adaptive and robust Kalman filter using a stand-alone receiver

Shao

Yang

et al. 2022

J. Navigation

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Time-differenced carrier phase (TDCP) is a commonly used method of precise velocimetry, but when the receiver is in a dynamic or complex observation environment, the estimation accuracy is reduced. Doppler velocimetry aims at estimating instantaneous velocity, and the accuracy is restricted by the accuracy of measurement. However, in such unfavourable cases, the Doppler measurement is more reliable than the carrier phase measurement. This paper derives the relationship between Doppler observation and TDCP observation, then proposes a Doppler enhanced TDCP algorithm, for the purpose of improving the velocity estimation accuracy in dynamic and complex observation environments. In addition, considering the error caused by the constant speed state update model in the robust Kalman filter (RKF), this paper designs a terrain adaptive and robust Kalman filter (TARKF). After three experimental tests, the improved TDCP algorithm can significantly increase the speed measurement accuracy to sub-metre per second, and the accuracy can be further improved after using TARKF.

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Velocity estimations by combining time-differenced GPS and Doppler observations

Cited by 12 publications

References 16 publications

Kinematic ME-MAFA for Pseudolite Carrier-Phase Ambiguity Resolution in Precise Single-Point Positioning

Kinematic ME-MAFA for Pseudolite Carrier-Phase Ambiguity Resolution in Precise Single-Point Positioning

Integrated navigation model based on TDCP constrained algorithm

A Doppler enhanced TDCP algorithm based on terrain adaptive and robust Kalman filter using a stand-alone receiver

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