scholarly journals Long Baseline Tightly Coupled DGNSS Positioning with Ionosphere-Free Inter-System Bias Calibration

2020 ◽  
Vol 13 (1) ◽  
pp. 67
Author(s):  
Jianhua Cheng ◽  
Chao Jiang ◽  
Liang Li ◽  
Chun Jia ◽  
Bing Qi ◽  
...  
Keyword(s):  
Satellite System ◽  
Base Station ◽  
Coupled Method ◽  
Loosely Coupled ◽  
Long Term Stability ◽  
Long Baseline ◽  
Positioning Method ◽  
Tightly Coupled ◽  
System Bias ◽  
Global Navigation Satellite

Based on the statistical stability of the inter-system bias (ISB), we propose a tightly coupled Differential Global Navigation Satellite System (DGNSS) positioning method by using ionosphere-free combination for the long baseline applications. The proposed method is compatible with the traditional Radio Beacon (RBN) base station implementation. The tightly coupled DGNSS positioning method is utilized at the long baseline rover by eliminating the effect of ionosphere delay with ionosphere-free (IF) based differential ISB calibration. The improved positioning model strength can be obtained with the proposed method when compared with the traditional loosely coupled method, particularly under the satellite-deprived environment. GNSS datasets of different baselines were collected to test the proposed method. The results of the ISB stability show that the ISB has long-term stability and needs to be calibrated when the receiver is rebooted. The positioning results show that when compared with the IF-based loosely coupled method, the IF-based tightly coupled DGNSS method based on ISB calibration can obtain better positioning performance of accuracy and continuity within 240 km baselines.

scholarly journals ADAPTIVE STRATEGY-BASED TIGHTLY-COUPLED INS/GNSS INTEGRATION SYSTEM AIDED BY ODOMETER AND BAROMETER

2019 ◽  
Vol XLII-2/W13 ◽  
pp. 881-888 ◽  
Author(s):  
Y. C. Tien ◽  
Y. L. Chen ◽  
K. W. Chiang
Keyword(s):  
Experimental Validation ◽  
Fundamental System ◽  
Adaptive Strategy ◽  
Measurement Model ◽  
Satellite System ◽  
Integration System ◽  
Loosely Coupled ◽  
Navigation Algorithm ◽  
Tightly Coupled ◽  
Global Navigation Satellite

<p><strong>Abstract.</strong> Inertial Navigation System/Global Navigation Satellite System (INS/GNSS) integration system have been widely applied in recent years. Unfortunately, it sometimes malfunctions and the performance heavily deteriorates, especially in urban area where signals from satellites may be blocked or reflected by modern buildings. In multipath or Non Light-of-sight (NLOS) environment, incorrect signal results in poor observability of GNSS measurement model in Kalman Filter (KF). For purpose of addressing the issue, we proposed an adaptive strategy-based tightly-coupled INS/GNSS integration system aided by odometer and barometer, targeting to mitigate the error from poor observability. In this method, tightly-coupled (TC) scheme is implemented as the fundamental system in order to increase the reliability and stability. TC is more suitable than Loosely-coupled (LC), the traditional scheme, in urban navigation because it requires less visible GNSS measurement and it overcomes the disadvantage of LC, and further enhances the navigation result. Furthermore, aiding sensors such as odometer and barometer are integrated in this system as well, serving as velocity and height constraints respectively. Since the precision of GNSS positioning depends on the properties of the environment, measurement model of KF must work adaptively. Thus, innovation-based Adaptive Scaled Estimation (IASE) and Residual-based Adaptive Scaled Estimation (RASE), are also implemented to improve navigation performance in this paper. Finally, from the experimental validation, the proposed adaptive sensor-fusion navigation algorithm significantly enhanced the performance. The improvement was approximate 80% compared with the pure TC scheme; the RMSE can reach 6m in 3D and 2.5&amp;thinsp;m in vertical.</p>

scholarly journals Modeling and Analysis of BDS-2 and BDS-3 Combined Precise Time and Frequency Transfer Considering Stochastic Models of Inter-System Bias

2021 ◽  
Vol 13 (4) ◽  
pp. 793
Author(s):  
Guoqiang Jiao ◽  
Shuli Song ◽  
Qinming Chen ◽  
Chao Huang ◽  
Ke Su ◽  
...  
Keyword(s):  
Stochastic Models ◽  
Satellite System ◽  
Modeling And Analysis ◽  
System Bias ◽  
Frequency Transfer ◽  
Global Navigation ◽  
The Difference ◽  
The Stability ◽  
Global Navigation Satellite ◽  
Precise Time

BeiDou global navigation satellite system (BDS) began to provide positioning, navigation, and timing (PNT) services to global users officially on 31 July, 2020. BDS constellations consist of regional (BDS-2) and global navigation satellites (BDS-3). Due to the difference of modulations and characteristics for the BDS-2 and BDS-3 default civil service signals (B1I/B3I) and the increase of new signals (B1C/B2a) for BDS-3, a systemically bias exists in the receiver-end when receiving and processing BDS-2 and BDS-3 signals, which leads to the inter-system bias (ISB) between BDS-2 and BDS-3 on the receiver side. To fully utilize BDS, the BDS-2 and BDS-3 combined precise time and frequency transfer are investigated considering the effect of the ISB. Four kinds of ISB stochastic models are presented, which are ignoring ISB (ISBNO), estimating ISB as random constant (ISBCV), random walk process (ISBRW), and white noise process (ISBWN). The results demonstrate that the datum of receiver clock offsets can be unified and the ISB deduced datum confusion can be avoided by estimating the ISB. The ISBCV and ISBRW models are superior to ISBWN. For the BDS-2 and BDS-3 combined precise time and frequency transfer using ISBNO, ISBCV, ISBRW, and ISBWN, the stability of clock differences of old signals can be enhanced by 20.18%, 23.89%, 23.96%, and 11.46% over BDS-2-only, respectively. For new signals, the enhancements are −50.77%, 20.22%, 17.53%, and −3.69%, respectively. Moreover, ISBCV and ISBRW models have the better frequency transfer stability. Consequently, we recommended the optimal ISBCV or suboptimal ISBRW model for BDS-2 and BDS-3 combined precise time and frequency transfer when processing the old as well as the new signals.

scholarly journals Opportunistic In-Flight INS Alignment Using LEO Satellites and a Rotatory IMU Platform

Aerospace ◽  
2021 ◽  
Vol 8 (10) ◽  
pp. 280
Author(s):  
Farzan Farhangian ◽  
Hamza Benzerrouk ◽  
Rene Landry
Keyword(s):  
Kalman Filter ◽  
State Space Model ◽  
Flight Test ◽  
Satellite System ◽  
Low Earth Orbit ◽  
Measurement Unit ◽  
Starting Point ◽  
Leo Satellites ◽  
Positioning Method ◽  
Global Navigation Satellite

With the emergence of numerous low Earth orbit (LEO) satellite constellations such as Iridium-Next, Globalstar, Orbcomm, Starlink, and OneWeb, the idea of considering their downlink signals as a source of pseudorange and pseudorange rate measurements has become incredibly attractive to the community. LEO satellites could be a reliable alternative for environments or situations in which the global navigation satellite system (GNSS) is blocked or inaccessible. In this article, we present a novel in-flight alignment method for a strapdown inertial navigation system (SINS) using Doppler shift measurements obtained from single or multi-constellation LEO satellites and a rotation technique applied on the inertial measurement unit (IMU). Firstly, a regular Doppler positioning algorithm based on the extended Kalman filter (EKF) calculates states of the receiver. This system is considered as a slave block. In parallel, a master INS estimates the position, velocity, and attitude of the system. Secondly, the linearized state space model of the INS errors is formulated. The alignment model accounts for obtaining the errors of the INS by a Kalman filter. The measurements of this system are the difference in the outputs from the master and slave systems. Thirdly, as the observability rank of the system is not sufficient for estimating all the parameters, a discrete dual-axis IMU rotation sequence was simulated. By increasing the observability rank of the system, all the states were estimated. Two experiments were performed with different overhead satellites and numbers of constellations: one for a ground vehicle and another for a small flight vehicle. Finally, the results showed a significant improvement compared to stand-alone INS and the regular Doppler positioning method. The error of the ground test reached around 26 m. This error for the flight test was demonstrated in different time intervals from the starting point of the trajectory. The proposed method showed a 180% accuracy improvement compared to the Doppler positioning method for up to 4.5 min after blocking the GNSS.

scholarly journals Validation of Preliminary Results of Thermal Tropopause Derived from FY-3C GNOS Data

2019 ◽  
Vol 11 (9) ◽  
pp. 1139 ◽  
Author(s):  
Ziyan Liu ◽  
Yueqiang Sun ◽  
Weihua Bai ◽  
Junming Xia ◽  
Guangyuan Tan ◽  
...  
Keyword(s):  
Correlation Coefficients ◽  
Satellite System ◽  
Research Field ◽  
Temperature Profiles ◽  
Temperature Deviation ◽  
Climate Research ◽  
Long Term Stability ◽  
Research Fields ◽  
Global Navigation Satellite

The state-of-art global navigation satellite system (GNSS) occultation sounder (GNOS) onboard the FengYun 3 series C satellite (FY-3C) has been in operation for more than five years. The accumulation of FY-3C GNOS atmospheric data makes it ready to be used in atmosphere and climate research fields. This work first introduces FY-3C GNOS into tropopause research and gives the error evaluation results of long-term FY-3C atmosphere profiles. We compare FY-3C results with Constellation Observing System for Meteorology, Ionosphere and Climate (COSMIC) and radiosonde results and also present the FY-3C global seasonal tropopause patterns. The mean temperature deviation between FY-3C GNOS temperature profiles and COSMIC temperature profiles from January 2014 to December 2017 is globally less than 0.2 K, and the bias of tropopause height (TPH) and tropopause temperature (TPT) annual cycle derived from both collocated pairs are about 80–100 m and 1–2 K, respectively. Also, the correlation coefficients between FY-3C GNOS tropopause parameters and each radiosonde counterpart are generally larger than 0.9 and the corresponding regression coefficients are close to 1. Multiple climate phenomena shown in seasonal patterns coincide with results of other relevant studies. Our results demonstrate the long-term stability of FY-3C GNOS atmosphere profiles and utility of FY-3C GNOS data in the climate research field.

Low-cost, high accuracy Global Navigation Satellite System positioning for understanding floods

2020 ◽  
Author(s):  
Hessel Winsemius ◽  
Andreas Krietemeyer ◽  
Kirsten Van Dongen ◽  
Ivan Gayton ◽  
Frank Annor ◽  
...  
Keyword(s):  
Global Navigation Satellite System ◽  
Low Cost ◽  
Smart Phone ◽  
Satellite System ◽  
Base Station ◽  
Navigation Satellite ◽  
Low Resource Settings ◽  
Low Resource ◽  
Global Navigation ◽  
Global Navigation Satellite

&lt;p&gt;Detailed elevation is a prerequisite for many hydrological applications. To name a few, understanding of urban and rural flood hazard and risk; understanding floodplain geometries and conveyance; and monitoring morphological changes. The accuracy of traditional Global Navigation Satellite System (GNSS) chipsets in smart phones is typically in the order of several meters, too low to be useful for such applications. Structure from Motion photogrammetry methods or Light Detection and Ranging (LIDAR), may be used to establish 3D point clouds from drone photos or lidar instrumentation, but even these require very accurate Ground Control Point (GCP) observations for a satisfactory result. These can be acquired through specialised GNSS rover equipment, combined with a multi-frequency GNSS base station or base station network, providing a Real-Time (RTK) or Post-Processing Kinematics (PPK) solution. These techniques are too expensive and too difficult to maintain for use within low resource settings and are usually deployed by experts or specialised firms.&lt;/p&gt;&lt;p&gt;Here we investigate if accurate positioning (horizontal and vertical) can be acquired using a very recently released low-cost multi-constellation dual-frequency receiver (ublox ZED-F9P), connected with a simple antenna and a smart phone. The setup is remarkably small and easy to carry into the field. Using a geodetic (high-grade) GNSS antenna and receiver as base station, initial results over baselines in the order of a few km with the low-cost receiver revealed a positioning performance in the centimeter domain. Currently, we are testing the solution using a smart phone setup as base station within Dar es Salaam, to improve elevation mapping within the community mapping project &amp;#8220;Ramani Huria&amp;#8221;. We will also test the equipment for use in GCP observations within the ZAMSECUR project in Zambia and TWIGA project in Ghana. This new technology opens doors to affordable and robust observations of positions and elevation in low resource settings.&lt;/p&gt;

The Research of Multipath and Linear Error for Pseudolites Applications

2011 ◽  
Vol 130-134 ◽  
pp. 2890-2893 ◽  
Author(s):  
Xiao Guang Wan ◽  
Xing Qun Zhan
Keyword(s):  
Carrier Phase ◽  
Indoor Environment ◽  
Phase Measurement ◽  
Satellite System ◽  
Independent System ◽  
Carrier Phase Measurement ◽  
Wide Range ◽  
Positioning Method ◽  
Global Navigation Satellite ◽  
Is Design

Pseudolites are ground-based transmitters that send global navigation satellite system like signals, such as GPS, GLONASS, or Galileo. As an independent system for indoor positioning, pseudolites technique can be explored for a wide range of positioning and navigation application where the signal of satellite GNSS can’t be received. However, with indoor environment, the positioning method of pseudolite navigation system is not entirely same as GNSS, and there are some challenging issues in research and system design. In this paper, a signal difference carrier phase measurement system with pseudolites is design. Furthermore, two major problems are studied that they are multipath error and linear errors.

Accounting for Inter-System Bias in DGNSS Positioning with GPS/GLONASS/BDS/Galileo

2017 ◽  
Vol 70 (4) ◽  
pp. 686-698 ◽  
Author(s):  
Hui Liu ◽  
Bao Shu ◽  
Longwei Xu ◽  
Chuang Qian ◽  
Rufei Zhang ◽  
...  
Keyword(s):  
Global Positioning System ◽  
Simple Algorithm ◽  
Satellite System ◽  
Harsh Environments ◽  
Positioning System ◽  
Gnss Positioning ◽  
Global Positioning ◽  
System Bias ◽  
Global Navigation Satellite ◽  
Reliability And Availability

Code Differential Global Positioning System (DGPS) is widely used in satellite navigation and positioning because of its simple algorithm and preferable precision. Multi-Global Navigation Satellite System (GNSS) is expected to enhance the accuracy, reliability and availability of Differential GNSS (DGNSS) positioning. Traditional DGNSS models should set separate clock parameters due to the clock differences between the different systems. Awareness of the Inter-System Bias (ISB) could help to maximise the redundancy of the positioning model, thus improving the performance of multi-GNSS positioning. This paper aims to examine the inter-system bias of GPS/GLONASS/BeiDou (BDS)/Galileo and their benefits in DGNSS positioning. Results show that Differential ISB (DISB) characteristics vary with different receiver types and systems. The size of DISB could reach metre-level and the precision of estimated DISBs can reach approximately several centimetres within tens of epochs. Therefore, a new real-time DGNSS model that accounts for ISB is proposed. After differential ISBs are initialised, positioning with four satellites from arbitrarily the same or different systems can be realised. Moreover, compared with the traditional DGNSS model, the precision of the positioning results with the new model are obviously improved, especially in harsh environments.

scholarly journals Integrity Monitoring of PPP-RTK Positioning; Part I: GNSS-Based IM Procedure

2021 ◽  
Vol 14 (1) ◽  
pp. 44
Author(s):  
Kan Wang ◽  
Ahmed El-Mowafy ◽  
Weijin Qin ◽  
Xuhai Yang
Keyword(s):  
Road Transport ◽  
Satellite System ◽  
Convergence Time ◽  
Transport Systems ◽  
Navigation Satellite ◽  
Integrity Monitoring ◽  
Network Scale ◽  
Positioning Method ◽  
Multipath Environment ◽  
Global Navigation Satellite

Nowadays, integrity monitoring (IM) is required for diverse safety-related applications using intelligent transport systems (ITS). To ensure high availability for road transport users for in-lane positioning, a sub-meter horizontal protection level (HPL) is expected, which normally requires a much higher horizontal positioning precision of, e.g., a few centimeters. Precise point positioning-real-time kinematic (PPP-RTK) is a positioning method that could achieve high accuracy without long convergence time and strong dependency on nearby infrastructure. As the first part of a series of papers, this contribution proposes an IM strategy for multi-constellation PPP-RTK positioning based on global navigation satellite system (GNSS) signals. It analytically studies the form of the variance-covariance (V-C) matrix of ionosphere interpolation errors for both accuracy and integrity purposes, which considers the processing noise, the ionosphere activities and the network scale. In addition, this contribution analyzes the impacts of diverse factors on the size and convergence of the HPLs, including the user multipath environment, the ionosphere activity, the network scale and the horizontal probability of misleading information (PMI). It is found that the user multipath environment generally has the largest influence on the size of the converged HPLs, while the ionosphere interpolation and the multipath environments have joint impacts on the convergence of the HPL. Making use of 1 Hz data of Global Positioning System (GPS)/Galileo/Beidou Navigation Satellite System (BDS) signals on L1 and L5 frequencies, for small- to mid-scaled networks, under nominal multipath environments and for a horizontal PMI down to , the ambiguity-float HPLs can converge to 1.5 m within or around 50 epochs under quiet to medium ionosphere activities. Under nominal multipath conditions for small- to mid-scaled networks, with the partial ambiguity resolution enabled, the HPLs can converge to 0.3 m within 10 epochs even under active ionosphere activities.

scholarly journals Control System Architecture for Automatic Recovery of Fixed-Wing Unmanned Aerial Vehicles in a Moving Arrest System

2021 ◽  
Vol 103 (4) ◽  
Author(s):  
Kristoffer Gryte ◽  
Martin L. Sollie ◽  
Tor Arne Johansen
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Low Cost ◽  
Field Testing ◽  
Satellite System ◽  
Base Station ◽  
Research Literature ◽  
Aerial Vehicles ◽  
Global Navigation Satellite ◽  
The Right ◽  
Automatic Recovery

AbstractAutomatic recovery is an important step in enabling fully autonomous missions using fixed-wing unmanned aerial vehicles (UAVs) operating from ships or other moving platforms. However, automatic recovery in moving arrest systems is only briefly studied in the research literature, and is not yet an option when using low-cost, commercial off-the-shelf (COTS) autopilots. Acknowledging the reliability and low cost of COTS avionics, this paper adds recovery functionality as a modular extension based on non-intrusive additions to an autopilot with very general assumptions on its interface. This is achieved by line-of-sight guidance, which sends an augmented desired position to the autopilot, to ensure line-following along a virtual runway that guides the UAV into the arrest system. The translation and rotation of this line is determined by the pose of the arrest system, determined using two Global Navigation Satellite System (GNSS) receivers, where one is configured as a Real-Time Kinematic (RTK) base station. The relative position of the UAV and arrest system is also precisely estimated using RTK GNSS. Through extensive field testing, on two different fixed-wing UAVs, the system has shown its performance and reliability; 43 recovery attempts in a stationary net hit 0.01 ± 0.25m to the right and 0.07 ± 0.20m below the target in calm conditions. Further, 15 recoveries in a barge-mounted, ship-towed net hit 0.06 ± 0.53m to the right and 0.98 ± 0.27m below the target in winds up to 4 m/s. The remaining error is largely systematic, caused by communication delays, and could be reduced with more integral effect or through direct compensation.

scholarly journals Application of the Fengyun 3 C GNSS occultation sounder for assessing the global ionospheric response to a magnetic storm event

2019 ◽  
Vol 12 (3) ◽  
pp. 1483-1493 ◽  
Author(s):  
Weihua Bai ◽  
Guojun Wang ◽  
Yueqiang Sun ◽  
Jiankui Shi ◽  
Guanglin Yang ◽  
...  
Keyword(s):  
Magnetic Storm ◽  
Radio Occultation ◽  
Correlation Coefficients ◽  
Satellite System ◽  
Storm Event ◽  
Calibration Data ◽  
Long Term Stability ◽  
Negative Effect ◽  
Occultation Data ◽  
Global Navigation Satellite

Abstract. The rapid advancement of global navigation satellite system (GNSS) occultation technology in recent years has made it one of the most advanced space-based remote sensing technologies of the 21st century. GNSS radio occultation has many advantages, including all-weather operation, global coverage, high vertical resolution, high precision, long-term stability, and self-calibration. Data products from GNSS occultation sounding can greatly enhance ionospheric observations and contribute to space weather monitoring, forecasting, modeling, and research. In this study, GNSS occultation sounder (GNOS) results from a radio occultation sounding payload aboard the Fengyun 3 C (FY3-C) satellite were compared with ground-based ionosonde observations. Correlation coefficients for peak electron density (NmF2) derived from GNOS Global Position System (GPS) and Beidou navigation system (BDS) products with ionosonde data were higher than 0.9, and standard deviations were less than 20 %. Global ionospheric effects of the strong magnetic storm event in March 2015 were analyzed using GNOS results supported by ionosonde observations. The magnetic storm caused a significant disturbance in NmF2 level. Suppressed daytime and nighttime NmF2 levels indicated mainly negative storm conditions. In two longitude section zones of geomagnetic inclination between 40 and 80∘, the results of average NmF2 observed by GNOS and ground-based ionosondes showed the same basic trends during the geomagnetic storm and confirmed the negative effect of this storm event on the ionosphere. The analysis demonstrates the reliability of the GNSS radio occultation sounding instrument GNOS aboard the FY3-C satellite and confirms the utility of ionosphere products from GNOS for statistical and event-specific ionospheric physical analyses. Future FY3 series satellites and increasing numbers of Beidou navigation satellites will provide increasing GNOS occultation data on the ionosphere, which will contribute to ionosphere research and forecasting applications.

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