Single Frequency GPS/BDS Precise Positioning Algorithm for Low-cost Receivers

AbstractThe investigations on low-cost single frequency GNSS receivers at the Institute of Engineering Geodesy (IIGS) show that u-blox GNSS receivers combined with low-cost antennas and self-constructed L1-optimized choke rings can reach an accuracy which almost meets the requirements of geodetic applications (see Zhang and Schwieger [25]). However, the quality (accuracy and reliability) of low-cost GNSS receiver data should still be improved, particularly in environments with obstructions. The multipath effects are a major error source for the short baselines. The ground plate or the choke ring ground plane can reduce the multipath signals from the horizontal reflector (e. g. ground). However, the shieldings cannot reduce the multipath signals from the vertical reflectors (e. g. walls).Because multipath effects are spatially and temporally correlated, an algorithm is developed for reducing the multipath effect by considering the spatial correlations of the adjoined stations (see Zhang and Schwieger [24]). In this paper, an algorithm based on the temporal correlations will be introduced. The developed algorithm is based on the periodic behavior of the estimated coordinates and not on carrier phase raw data, which is easy to use. Because, for the users, coordinates are more accessible than the raw data. The multipath effect can cause periodic oscillations but the periods change over time. Besides this, the multipath effect’s influence on the coordinates is a mixture of different multipath signals from different satellites and different reflectors. These two properties will be used to reduce the multipath effect. The algorithm runs in two steps and iteratively. Test measurements were carried out in a multipath intensive environment; the accuracies of the measurements are improved by about 50 % and the results can be delivered in near-real-time (in ca. 30 minutes), therefore the algorithm is suitable for structural health monitoring applications.

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A Local Oscillator Phase Compensation Technique for Ultra-Wideband Stepped-Frequency Continuous Wave Radar Based on a Low-Cost Software-Defined Radio

Sensors ◽

10.3390/s21030780 ◽

2021 ◽

Vol 21 (3) ◽

pp. 780

Author(s):

Kazunori Takahashi ◽

Takashi Miwa

Keyword(s):

Software Defined Radio ◽

Initial Phase ◽

Continuous Wave ◽

Low Cost ◽

Local Oscillator ◽

The Other ◽

Ultra Wideband ◽

Single Frequency ◽

Wave Radar ◽

Stepped Frequency

The paper discusses a way to configure a stepped-frequency continuous wave (SFCW) radar using a low-cost software-defined radio (SDR). The most of high-end SDRs offer multiple transmitter (TX) and receiver (RX) channels, one of which can be used as the reference channel for compensating the initial phases of TX and RX local oscillator (LO) signals. It is same as how commercial vector network analyzers (VNAs) compensate for the LO initial phase. These SDRs can thus acquire phase-coherent in-phase and quadrature (I/Q) data without additional components and an SFCW radar can be easily configured. On the other hand, low-cost SDRs typically have only one transmitter and receiver. Therefore, the LO initial phase has to be compensated and the phases of the received I/Q signals have to be retrieved, preferably without employing an additional receiver and components to retain the system low-cost and simple. The present paper illustrates that the difference between the phases of TX and RX LO signals varies when the LO frequency is changed because of the timing of the commencement of the mixing. The paper then proposes a technique to compensate for the LO initial phases using the internal RF loopback of the transceiver chip and to reconstruct a pulse, which requires two streaming: one for the device under test (DUT) channel and the other for the internal RF loopback channel. The effect of the LO initial phase and the proposed method for the compensation are demonstrated by experiments at a single frequency and sweeping frequency, respectively. The results show that the proposed method can compensate for the LO initial phases and ultra-wideband (UWB) pulses can be reconstructed correctly from the data sampled by a low-cost SDR.

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Development and Experimental Evaluation of a Low-Cost Cooperative UAV Localization Network Prototype

Journal of Sensor and Actuator Networks ◽

10.3390/jsan7040042 ◽

2018 ◽

Vol 7 (4) ◽

pp. 42 ◽

Cited By ~ 4

Author(s):

Salil Goel ◽

Allison Kealy ◽

Bharat Lohani

Keyword(s):

Information Sharing ◽

Inertial Sensors ◽

Low Cost ◽

Wide Band ◽

Cooperative Networks ◽

Global Navigation Satellite Systems ◽

Cooperative Localization ◽

Cooperative Network ◽

Precise Positioning ◽

Assisted Navigation

Precise localization is one of the key requirements in the deployment of UAVs (Unmanned Aerial Vehicles) for any application including precision mapping, surveillance, assisted navigation, search and rescue. The need for precise positioning is even more relevant with the increasing automation in UAVs and growing interest in commercial UAV applications such as transport and delivery. In the near future, the airspace is expected to be occupied with a large number of unmanned as well as manned aircraft, a majority of which are expected to be operating autonomously. This paper develops a new cooperative localization prototype that utilizes information sharing among UAVs and static anchor nodes for precise positioning of the UAVs. The UAVs are retrofitted with low-cost sensors including a camera, GPS receiver, UWB (Ultra Wide Band) radio and low-cost inertial sensors. The performance of the low-cost prototype is evaluated in real-world conditions in partially and obscured GNSS (Global Navigation Satellite Systems) environments. The performance is analyzed for both centralized and distributed cooperative network designs. It is demonstrated that the developed system is capable of achieving navigation grade (2–4 m) accuracy in partially GNSS denied environments, provided a consistent communication in the cooperative network is available. Furthermore, this paper provides experimental validation that information sharing is beneficial to improve positioning performance even in ideal GNSS environments. The experiments demonstrate that the major challenges for low-cost cooperative networks are consistent connectivity among UAV platforms and sensor synchronization.

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Precise Point Positioning Using Dual-Frequency GNSS Observations on Smartphone

Sensors ◽

10.3390/s19092189 ◽

2019 ◽

Vol 19 (9) ◽

pp. 2189 ◽

Cited By ~ 27

Author(s):

Qiong Wu ◽

Mengfei Sun ◽

Changjie Zhou ◽

Peng Zhang

Keyword(s):

Precise Point Positioning ◽

Frequency Mode ◽

Single Frequency ◽

Dual Frequency ◽

Static Mode ◽

Position Errors ◽

Point Positioning ◽

Similar Accuracy ◽

Positioning Algorithm ◽

Gnss Observations

The update of the Android system and the emergence of the dual-frequency GNSS chips enable smartphones to acquire dual-frequency GNSS observations. In this paper, the GPS L1/L5 and Galileo E1/E5a dual-frequency PPP (precise point positioning) algorithm based on RTKLIB and GAMP was applied to analyze the positioning performance of the Xiaomi Mi 8 dual-frequency smartphone in static and kinematic modes. The results showed that in the static mode, the RMS position errors of the dual-frequency smartphone PPP solutions in the E, N, and U directions were 21.8 cm, 4.1 cm, and 11.0 cm, respectively, after convergence to 1 m within 102 min. The PPP of dual-frequency smartphone showed similar accuracy with geodetic receiver in single-frequency mode, while geodetic receiver in dual-frequency mode has higher accuracy. In the kinematic mode, the positioning track of the smartphone dual-frequency data had severe fluctuations, the positioning tracks derived from the smartphone and the geodetic receiver showed approximately difference of 3–5 m.

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Microwave Holographic Surface Measurement of the Tidbinbilla 64-m Antenna

Publications of the Astronomical Society of Australia ◽

10.1017/s1323358000017082 ◽

1983 ◽

Vol 5 (2) ◽

pp. 270-272 ◽

Cited By ~ 2

Author(s):

Y. Rahmat-Samii ◽

S. Gulkis ◽

G.S. Levy ◽

B.L Seidel ◽

L.E. Young ◽

...

Keyword(s):

High Speed ◽

Survey Methods ◽

Low Cost ◽

Single Frequency ◽

Surface Measurement ◽

Antenna Aperture ◽

Phase Fluctuations ◽

Surface Deviations ◽

Antenna Surface ◽

Surface Figure

The ‘holographic’ technique for accurately measuring the surface figure of large reflector antennas, described by Bennet et al, (1976) and Scott and Ryle (1977), has many advantages over older conventional survey methods. These include high speed, low cost, and the absence of any need for additional complex mechanical or optical survey devices. In essence, the technique consists of measuring the complex far-field response of the antenna at a single frequency using a terrestrial, satellite-borne or celestial radiation source of small angular diameter. This two-dimensional pattern is then Fourier-transformed to yield the complex illumination function across the antenna aperture. Antenna surface deviations are manifested as phase fluctuations in this function. In practice, a second antenna is needed to provide a phase reference.

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Indoor Positioning Method Based on Infrared Vision and UWB Fusion

Journal of Physics Conference Series ◽

10.1088/1742-6596/2078/1/012070 ◽

2021 ◽

Vol 2078 (1) ◽

pp. 012070

Author(s):

Qianrong Zhang ◽

Yi Li

Keyword(s):

Real Time ◽

Indoor Localization ◽

Low Cost ◽

Ultra Wideband ◽

Coverage Area ◽

Positioning Accuracy ◽

Mobile Vehicle ◽

Positioning Method ◽

Positioning Algorithm ◽

Infrared Vision

Abstract Ultra-wideband (UWB) has broad application prospects in the field of indoor localization. In order to make up for the shortcomings of ultra-wideband that is easily affected by the environment, a positioning method based on the fusion of infrared vision and ultra-wideband is proposed. Infrared vision assists locating by identifying artificial landmarks attached to the ceiling. UWB uses an adaptive weight positioning algorithm to improve the positioning accuracy of the edge of the UWB positioning coverage area. Extended Kalman filter (EKF) is used to fuse the real-time location information of the two. Finally, the intelligent mobile vehicle-mounted platform is used to collect infrared images and UWB ranging information in the indoor environment to verify the fusion method. Experimental results show that the fusion positioning method is better than any positioning method, has the advantages of low cost, real-time performance, and robustness, and can achieve centimeter-level positioning accuracy.

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Kinematic PPP Using Mixed GPS/Glonass Single-Frequency Observations

Artificial Satellites ◽

10.2478/arsa-2019-0008 ◽

2019 ◽

Vol 54 (3) ◽

pp. 97-112

Author(s):

Mostafa Hamed ◽

Ashraf Abdallah ◽

Ashraf Farah

Keyword(s):

Low Cost ◽

Satellite System ◽

Single Frequency ◽

Future Research ◽

Frequency Data ◽

Dual Frequency ◽

Trajectory Data ◽

Average Improvement ◽

Kinematic Ppp ◽

Global Navigation Satellite

Abstract Nowadays, Precise Point Positioning (PPP) is a very popular technique for Global Navigation Satellite System (GNSS) positioning. The advantage of PPP is its low cost as well as no distance limitation when compared with the differential technique. Single-frequency receivers have the advantage of cost effectiveness when compared with the expensive dual-frequency receivers, but the ionosphere error makes a difficulty to be completely mitigated. This research aims to assess the effect of using observations from both GPS and GLONASS constellations in comparison with GPS only for kinematic purposes using single-frequency observations. Six days of the year 2018 with single-frequency data for the Ethiopian IGS station named “ADIS” were processed epoch by epoch for 24 hours once with GPS-only observations and another with GPS/GLONASS observations. In addition to “ADIS” station, a kinematic track in the New Aswan City, Aswan, Egypt, has been observed using Leica GS15, geodetic type, dual-frequency, GPS/GLONASS GNSS receiver and single-frequency data have been processed. Net_Diff software was used for processing all the data. The results have been compared with a reference solution. Adding GLONASS satellites significantly improved the satellite number and Position Dilution Of Precision (PDOP) value and accordingly improved the accuracy of positioning. In the case of “ADIS” data, the 3D Root Mean Square Error (RMSE) ranged between 0.273 and 0.816 m for GPS only and improved to a range from 0.256 to 0.550 m for GPS/GLONASS for the 6 processed days. An average improvement ratio of 24%, 29%, 30%, and 29% in the east, north, height, and 3D position components, respectively, was achieved. For the kinematic trajectory, the 3D position RMSE improved from 0.733 m for GPS only to 0.638 m for GPS/GLONASS. The improvement ratios were 7%, 5%, 28%, and 13% in the east, north, height, and 3D position components, respectively, for the kinematic trajectory data. This opens the way to add observations from the other two constellations (Galileo and BeiDou) for more accuracy in future research.

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