scholarly journals Study on the Positioning Accuracy of GNSS/INS Systems Supported by DGPS and RTK Receivers for Hydrographic Surveys

Energies ◽  
2021 ◽  
Vol 14 (21) ◽  
pp. 7413
Author(s):  
Andrzej Stateczny ◽  
Cezary Specht ◽  
Mariusz Specht ◽  
David Brčić ◽  
Alen Jugović ◽  
...  
Keyword(s):  
Dimensional Space ◽  
Satellite System ◽  
New Order ◽  
Positioning System ◽  
Navigation Systems ◽  
Positioning Accuracy ◽  
Current Test ◽  
Gnss Network ◽  
Global Navigation Satellite ◽  
The Mathematical Model

Hydrographic surveys, in accordance with the International Hydrographic Organization (IHO) S-44 standard, can be carried out in the following five orders: Exclusive, Special, 1a, 1b and 2, for which minimum accuracy requirements for the applied positioning system have been set out. They are as follows, respectively: 1, 2, 5, 5 and 20 m, with a confidence level of 95% in two-dimensional space. The Global Navigation Satellite System (GNSS) network solutions (accuracy: 2–3 cm (p = 0.95)) and the Differential Global Positioning System (DGPS) (accuracy: 1–2 m (p = 0.95)) are now commonly used positioning methods in hydrography. Due to the fact that a new order of hydrographic surveys has appeared in the IHO S-44 standard from 2020—Exclusive, looking at the current positioning accuracy of the DGPS system, it is not known whether it can be used in it. The aim of this article is to determine the usefulness of GNSS/Inertial Navigation Systems (INS) for hydrographic surveys. During the research, the following two INSs were used: Ekinox2-U and Ellipse-D by the SBG Systems, which were supported by DGPS and Real Time Kinematic (RTK) receivers. GNSS/INS measurements were carried out during the manoeuvring of the Autonomous/Unmanned Surface Vehicle (ASV/USV) named “HydroDron” on Kłodno lake in Zawory. The acquired data were processed using the mathematical model that allows us to assess whether any positioning system at a given point in time meets (or not) the accuracy requirements for each IHO order. The model was verified taking into account the historical and current test results of the DGPS and RTK systems. Tests have confirmed that the RTK system meets the requirements of all the IHO orders, even in situations where it is not functioning 100% properly. Moreover, it was proven that the DGPS system does not only meet the requirements provided for the most stringent IHO order, i.e., the Exclusive Order (horizontal position error ≤ 1 m (p = 0.95)). Statistical analyses showed that it was only a few centimetres away from meeting this criterion. Therefore, it can be expected that soon it will be used in all the IHO orders.

scholarly journals Assessment of the Steering Precision of a Hydrographic USV along Sounding Profiles Using a High-Precision GNSS RTK Receiver Supported Autopilot

Energies ◽  
2020 ◽  
Vol 13 (21) ◽  
pp. 5637
Author(s):  
Łukasz Marchel ◽  
Cezary Specht ◽  
Mariusz Specht
Keyword(s):  
High Precision ◽  
Low Cost ◽  
Path Following ◽  
Satellite System ◽  
Magnetic Compass ◽  
Reference Station ◽  
Positioning System ◽  
Positioning Accuracy ◽  
Unmanned Surface Vehicles ◽  
Global Navigation Satellite

Unmanned Surface Vehicles (USV) are increasingly used to perform numerous tasks connected with measurements in inland waters and seas. One of such target applications is hydrography, where traditional (manned) bathymetric measurements are increasingly often realized by unmanned surface vehicles. This pertains especially to restricted or hardly navigable waters, in which execution of hydrographic surveys with the use of USVs requires precise maneuvering. Bathymetric measurements should be realized in a way that makes it possible to determine the waterbody’s depth as precisely as possible, and this requires high-precision in navigating along planned sounding profiles. This paper presents research that aimed to determine the accuracy of unmanned surface vehicle steering in autonomous mode (with a Proportional-Integral-Derivative (PID) controller) along planned hydrographic profiles. During the measurements, a high-precision Global Navigation Satellite System (GNSS) Real Time Kinematic (RTK) positioning system based on a GNSS reference station network (positioning accuracy: 1–2 cm, p = 0.95) and a magnetic compass with the stability of course maintenance of 1°–3° Root Mean Square (RMS) were used. For the purpose of evaluating the accuracy of the vessel’s path following along sounding profiles, the cross track error (XTE) measure, i.e., the distance between an USV’s position and the hydrographic profile, calculated transversely to the course, was proposed. The tests were compared with earlier measurements taken by other unmanned surface vehicles, which followed the exact same profiles with the use of much simpler and low-cost multi-GNSS receiver (positioning accuracy: 2–2.5 m or better, p = 0.50), supported with a Fluxgate magnetic compass with a high course measurement accuracy of 0.3° (p = 0.50 at 30 m/s). The research has shown that despite the considerable difference in the positioning accuracy of both devices and incomparably different costs of both solutions, the authors proved that the use of the GNSS RTK positioning system, as opposed to a multi-GNSS system supported with a Fluxgate magnetic compass, influences the precision of USV following sounding profiles to an insignificant extent.

scholarly journals Assessment of the Positioning Accuracy of DGPS and EGNOS Systems in the Bay of Gdansk using Maritime Dynamic Measurements

2018 ◽  
Vol 72 (3) ◽  
pp. 575-587 ◽  
Author(s):  
Cezary Specht ◽  
Jan Pawelski ◽  
Leszek Smolarek ◽  
Mariusz Specht ◽  
Pawel Dabrowski
Keyword(s):  
Satellite System ◽  
Main Task ◽  
Dynamic Measurements ◽  
Positioning Accuracy ◽  
Positioning Systems ◽  
Global Positioning ◽  
Measurement Session ◽  
Gnss Network ◽  
Global Navigation Satellite ◽  
Marine Navigation

Differential Global Positioning Systems (DGPS) and the European Geostationary Navigation Overlay Service (EGNOS) are included in a group of supporting systems (Ground-Based Augmentation System (GBAS)/Space-Based Augmentation System (SBAS)) for the American GPS. Their main task is to ensure better positioning characteristics (accuracy, reliability, continuity and availability) compared to GPS. Therefore, they are widely applied wherever GPS failures affect human safety, mainly in aviation, land and marine navigation. The aim of this paper is to assess the predictable positioning accuracy of DGPS and EGNOS receivers using a vessel manoeuvring in the Bay of Gdansk. Two receivers were used in the study: a Simrad MXB5 (DGPS) and a Trimble GA530 (EGNOS), which were simultaneously recording their coordinates. The obtained values were compared with the trajectory computed using a geodetic Global Navigation Satellite System (GNSS) receiver (Trimble R10) connected to a GNSS network, ensuring an accuracy of 2–3 cm (p = 0·95). During a four-hour measurement session, the accuracy statistics of these systems were determined based on around 11,500 positionings. Studies have shown that both positioning systems ensure a similar level of accuracy of their positioning services (approximately 0·5–2 m) and they meet the accuracy requirements set in published standards.

scholarly journals Semi-tightly coupled integration of multi-GNSS PPP and S-VINS for precise positioning in GNSS-challenged environments

2021 ◽  
Vol 2 (1) ◽  
Author(s):  
Xingxing Li ◽  
Xuanbin Wang ◽  
Jianchi Liao ◽  
Xin Li ◽  
Shengyu Li ◽  
...  
Keyword(s):  
Global Navigation Satellite System ◽  
Inertial Navigation ◽  
Satellite System ◽  
Navigation Satellite ◽  
Navigation Systems ◽  
Tight Coupling ◽  
Positioning Accuracy ◽  
3D Positioning ◽  
Global Navigation ◽  
Global Navigation Satellite

AbstractBecause of its high-precision, low-cost and easy-operation, Precise Point Positioning (PPP) becomes a potential and attractive positioning technique that can be applied to self-driving cars and drones. However, the reliability and availability of PPP will be significantly degraded in the extremely difficult conditions where Global Navigation Satellite System (GNSS) signals are blocked frequently. Inertial Navigation System (INS) has been integrated with GNSS to ameliorate such situations in the last decades. Recently, the Visual-Inertial Navigation Systems (VINS) with favorable complementary characteristics is demonstrated to realize a more stable and accurate local position estimation than the INS-only. Nevertheless, the system still must rely on the global positions to eliminate the accumulated errors. In this contribution, we present a semi-tight coupling framework of multi-GNSS PPP and Stereo VINS (S-VINS), which achieves the bidirectional location transfer and sharing in two separate navigation systems. In our approach, the local positions, produced by S-VINS are integrated with multi-GNSS PPP through a graph-optimization based method. Furthermore, the accurate forecast positions with S-VINS are fed back to assist PPP in GNSS-challenged environments. The statistical analysis of a GNSS outage simulation test shows that the S-VINS mode can effectively suppress the degradation of positioning accuracy compared with the INS-only mode. We also carried out a vehicle-borne experiment collecting multi-sensor data in a GNSS-challenged environment. For the complex driving environment, the PPP positioning capability is significantly improved with the aiding of S-VINS. The 3D positioning accuracy is improved by 49.0% for Global Positioning System (GPS), 40.3% for GPS + GLOANSS (Global Navigation Satellite System), 45.6% for GPS + BDS (BeiDou navigation satellite System), and 51.2% for GPS + GLONASS + BDS. On this basis, the solution with the semi-tight coupling scheme of multi-GNSS PPP/S-VINS achieves the improvements of 41.8–60.6% in 3D positioning accuracy compared with the multi-GNSS PPP/INS solutions.

scholarly journals Method of Evaluating the Positioning System Capability for Complying with the Minimum Accuracy Requirements for the International Hydrographic Organization Orders

Sensors ◽  
2019 ◽  
Vol 19 (18) ◽  
pp. 3860 ◽  
Author(s):  
Specht
Keyword(s):  
Global Positioning System ◽  
Satellite System ◽  
Positioning System ◽  
Navigation Satellite ◽  
Positioning Accuracy ◽  
Positioning Systems ◽  
Global Positioning ◽  
Gnss Receivers ◽  
Global Navigation Satellite ◽  
Alternative Solutions

According to the IHO (International Hydrographic Organization) S-44 standard, hydrographic surveys can be carried out in four categories, the so-called orders—special, 1a, 1b, and 2—for which minimum accuracy requirements for the applied positioning system have been set out. These amount to, respectively: 2 m, 5 m, 5 m, and 20 m at a confidence level of 0.95. It is widely assumed that GNSS (Global Navigation Satellite System) network solutions with an accuracy of 2–5 cm (p = 0.95) and maritime DGPS (Differential Global Positioning System) systems with an error of 1–2 m (p = 0.95) are currently the two main positioning methods in hydrography. Other positioning systems whose positioning accuracy increases from year to year (and which may serve as alternative solutions) have been omitted. The article proposes a method that enables an assessment of any given navigation positioning system in terms of its compliance (or non-compliance) with the minimum accuracy requirements specified for hydrographic surveys. The method concerned clearly assesses whether a particular positioning system meets the accuracy requirements set out for a particular IHO order. The model was verified, taking into account both past and present research results (stationary and dynamic) derived from tests on the following systems: DGPS, EGNOS (European Geostationary Navigation Overlay Service), and multi-GNSS receivers (GPS/GLONASS/BDS/Galileo). The study confirmed that the DGPS system meets the requirements for all IHO orders and proved that the EGNOS system can currently be applied in measurements in the orders 1a, 1b, and 2. On the other hand, multi-GNSS receivers meet the requirements for order 2, while some of them meet the requirements for orders 1a and 1b as well.

scholarly journals MODEL SISTEM NAVIGASI INERSIAL: SEBUAH TINJAUAN

Oseanika ◽  
2020 ◽  
Vol 1 (1) ◽  
Author(s):  
Muhamad Irfan ◽  
Dwi Haryanto
Keyword(s):  
Kalman Filter ◽  
Global Positioning System ◽  
Global Navigation Satellite System ◽  
Inertial Navigation System ◽  
Satellite System ◽  
Positioning System ◽  
Navigation Satellite ◽  
Navigation Systems ◽  
Global Positioning ◽  
Global Navigation Satellite

Sistem navigasi merupakan sistem yang memandu wahana gerak dari satu tempat ke tempat lainnya. Ada banyak sistem navigasi yang digunakan baik untuk kepentingan survei maupun untuk kepentingan umum. Sistem navigasi yang sudah dikenal luas adalah sistem navigasi berbasis satelit menggunakan global navigation satellite system (GNSS) atau global positioning system (GPS). GPS mempunyai kelemahan akibat faktor eksternal yakni sangat tergantung pada perambatan sinyal gelombang elektromagnetik dari satelit GPS ke receiver GPS. Sistem navigasi yang lainnya dan belum banyak dikenal namun sudah banyak digunakan adalah sistem navigasi inersial atau INS (inertial navigation system). INS ini merupakan sistem navigasi yang tidak terpengaruh oleh faktor eksternal, karena dibuat dengan mengikuti hukum gerak Newton, dan terdiri dari sensor accelerometer dan gyroscope. Biasanya INS ini dikombinasikan dengan sistem navigasi GPS untuk mendapatkan informasi navigasi yang lengkap dan akurat, yaitu posisi absolut, percepatan, kecepatan, arah, dan kelabilan (attitude) dengan frekuensi pengambilan data yang tinggi. Tulisan ini membahas tentang model dasar INS dari buku “Inertial Navigation Systems with Geodetic Applications” [Jekeli].Kata kunci:navigasi, accelerometer, gyroscope, inersial, GPS, Kalman filter

scholarly journals Performance analysis of GNSS/INS loosely coupled integration systems under GNSS signal blocking environment

2020 ◽  
Vol 206 ◽  
pp. 02013
Author(s):  
Mengke Wang ◽  
Peidong Yu ◽  
Yunzhi Li
Keyword(s):  
Autonomous Navigation ◽  
Inertial Navigation System ◽  
Satellite System ◽  
Sampling Frequency ◽  
Navigation Satellite ◽  
Navigation Systems ◽  
Post Processing ◽  
Positioning Accuracy ◽  
Loosely Coupled ◽  
Global Navigation Satellite

Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) are the most widely used navigation systems at present. Aiming at the limitations of a single system application, this paper uses kalman filter to fuse the pose information provided by GNSS and INS, respectively. GNSS has the characteristics of being easily affected by the environment but with high absolute positioning accuracy. INS has the characteristics of high sampling frequency and autonomous navigation, but the error accumulates with time. Combining the advantages of the two systems to achieve the purpose of obtaining higher-precision pose information. In addition, aiming at the problem that GNSS/INS integration cannot provide continuous, stable and reliable navigation solutions under the GNSS signal blocking environment, a smoothing post-processing algorithm for GNSS/INS integration is studied. Through experimental verification, this algorithm can effectively improve the pose accuracy under GNSS signal blocking environment.

scholarly journals Developing an Error Map for Cognitive Navigation System

2021 ◽  
Vol 3 ◽  
Author(s):  
Atsushi Ito ◽  
Yosuke Nakamura ◽  
Yuko Hiramatsu ◽  
Tomoya Kitani ◽  
Hiroyuki Hatano
Keyword(s):  
Navigation System ◽  
Intelligent Transportation System ◽  
Low Cost ◽  
Satellite System ◽  
Navigation Systems ◽  
Positioning Accuracy ◽  
Gnss Positioning ◽  
Gnss Receivers ◽  
Global Navigation Satellite ◽  
User Friendly

Global Navigation Satellite System (GNSS) positioning is a widely used and a key intelligent transportation system (ITS) technology. An automotive navigation system is necessary when driving to an unfamiliar location. One difficulty regarding GNSS positioning occurs when an error is caused by various factors, which reduces the positioning accuracy and impacts the performance of applications such as navigation systems. However, there is no way for users to be aware of the magnitude of the error. In this paper, we propose a cognitive navigation system that uses an error map to provide users with information about the magnitude of errors to better understand the positioning accuracy. This technology can allow us to develop a new navigation system that offers a more user-friendly interface. We propose that the method will develop an error map by using two low-cost GNSS receivers to provide information about the magnitude of errors. We also recommend some applications that will work with the error map.

scholarly journals Multiband Printed Loop Mobile Phone Antenna for LTE/WWAN/GNSS Application

2016 ◽  
Vol 2016 ◽  
pp. 1-7
Author(s):  
Yuan Xu ◽  
Hao-Miao Zhou
Keyword(s):  
Mobile Phone ◽  
Smartphone Application ◽  
Satellite System ◽  
Circuit Board ◽  
Navigation Systems ◽  
Lumped Element ◽  
Shadow Area ◽  
Redundant Design ◽  
Resonant Modes ◽  
Global Navigation Satellite

A multiband printed loop mobile phone antenna for LTE/WWAN/GNSS application is presented. It covers seven communication bands (VSWR < 3) and GNSS band (VSWR < 1.5). The so-called GNSS (global navigation satellite system) band includes COMPASS, GALILEO, GPS, and GLONASS. From the analysis of the structure, the coupled-fed antenna mainly consists of three parts: the feeding strip, shorted strip, and U-shaped parasitic coupling strip. The proposed antenna works in three resonant modes, respectively, at 860 MHz (0.25λ), 1620 MHz (0.5λ), and 2620 MHz (1λ). A solution is provided, by which the navigation antenna can be integrated into the communication main antenna to save space. The antenna not only can work in GSM850/900/1800/1900/UMTS2100/LTE2300/2500 bands but also covers the world’s four major navigation systems. Moreover, the proposed antenna can be easily printed on the circuit board without loading any lumped element and only occupies a small volume of 18 × 32 × 3 mm3, which is suitable for smartphone application. In addition, the redundant design of multinavigation system is quite favorable for the elimination of errors or shadow area caused by single navigation system, especially for outdoor investigation, national security, and so on.

scholarly journals From GPS Receiver to GNSS Reflectometry Payload Development for the Triton Satellite Mission

2021 ◽  
Vol 13 (5) ◽  
pp. 999
Author(s):  
Yung-Fu Tsai ◽  
Wen-Hao Yeh ◽  
Jyh-Ching Juang ◽  
Dian-Syuan Yang ◽  
Chen-Tsung Lin
Keyword(s):  
Satellite System ◽  
Low Earth Orbit ◽  
Export Control ◽  
Navigation Systems ◽  
Gps Receiver ◽  
Design Development ◽  
Satellite Mission ◽  
Essential Components ◽  
Gnss Reflectometry ◽  
Global Navigation Satellite

The global positioning system (GPS) receiver has been one of the most important navigation systems for more than two decades. Although the GPS system was originally designed for near-Earth navigation, currently it is widely used in highly dynamic environments (such as low Earth orbit (LEO)). A space-capable GPS receiver (GPSR) is capable of providing timing and navigation information for spacecraft to determine the orbit and synchronize the onboard timing; therefore, it is one of the essential components of modern spacecraft. However, a space-grade GPSR is technology-sensitive and under export control. In order to overcome export control, the National Space Organization (NSPO) in Taiwan completed the development of a self-reliant space-grade GPSR in 2014. The NSPO GPSR, built in-house, has passed its qualification tests and is ready to fly onboard the Triton satellite. In addition to providing navigation, the GPS/global navigation satellite system (GNSS) is facilitated to many remote sensing missions, such as GNSS radio occultation (GNSS-RO) and GNSS reflectometry (GNSS-R). Based on the design of the NSPO GPSR, the NSPO is actively engaged in the development of the Triton program (a GNSS reflectometry mission). In a GNSS-R mission, the reflected signals are processed to form delay Doppler maps (DDMs) so that various properties (including ocean surface roughness, vegetation, soil moisture, and so on) can be retrieved. This paper describes not only the development of the NSPO GPSR but also the design, development, and special features of the Triton’s GNSS-R mission. Moreover, in order to verify the NSPO GNSS-R receiver, ground/flight tests are deemed essential. Then, data analyses of the airborne GNSS-R tests are presented in this paper.

Validation of the accuracy of geodetic automated measurement system based on GNSS platform for continuous monitoring of surface movements in post-mining areas

2021 ◽  
Vol 112 (1) ◽  
pp. 47-57
Author(s):  
Violetta Sokoła-Szewioła ◽  
Zbigniew Siejka
Keyword(s):  
Continuous Monitoring ◽  
Surface Deformation ◽  
Optimal Solution ◽  
Satellite System ◽  
Reference Points ◽  
Hard Coal ◽  
Navigation Systems ◽  
Mining Areas ◽  
Global Navigation ◽  
Global Navigation Satellite

Abstract The problem involving the monitoring of surface ground movements in post-mining areas is particularly important during the period of mine closures. During or after flooding of a mine, mechanical properties of the rock mass may be impaired, and this may trigger subsidence, surface landslides, uplift, sinkholes or seismic activity. It is, therefore, important to examine and select updating methods and plans for long-term monitoring of post-mining areas to mitigate seismic hazards or surface deformation during and after mine closure. The research assumed the implementation of continuous monitoring of surface movements using the Global Navigation Satellite System (GNSS) in the area of a closed hard coal mine ‘Kazimierz-Juliusz’, located in Poland. In order to ensure displacement measurement results with the accuracy of several millimetres, the accuracy of multi-GNSS observations carried out in real time as a combination of four global navigation systems, Global Positioning System (GPS), Globalnaja Navigacionnaja Sputnikova Sistema (GLONASS), Galileo and BeiDou, was determined. The article presents the results of empirical research conducted at four reference points. The test observations were made in variants comprising measurements based on: GPS, GPS and GLONASS systems, GPS, GLONASS and Galileo systems, GPS, GLONASS, Galileo and BeiDou systems. For each adopted solution, daily measurement sessions were performed using the RTK technique. The test results were subjected to accuracy analyses. Based on the obtained results, it was found that GNSS measurements should be carried out with the use of three navigation systems (GPS, GLONASS, Galileo), as an optimal solution for the needs of continuous geodetic monitoring in the area of the study.

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