The BeiDou Navigation Satellite System (BDS) has been widely applied in many areas, including communications, transportation, emergency rescue, public security, surveying, precise positioning, and many other industrial applications. The integration of BDS and an Inertial Navigation System (INS) has the ability to achieve a more consistent and accurate positioning solution. However, during long BDS outages, the performance of such an integrated system degrades because of the characteristics of the Inertial Measurement Unit (IMU) -the sensor errors accumulate rapidly with time when operated in a standalone mode. In this paper, a BDS/INS/odometer/map-matching (MM) positioning methodology for train navigation applications is proposed, to solve the problem of positioning during BDS outages when trains pass through signal obstructed areas such as under bridges, inside tunnels and through deep valleys. The seamless transition of the train operation in various scenarios can be therefore maintained. When the train operates in an open-sky environment the BDS signals are available to provide accurate positioning, and the integrated BDS/INS/odometer/MM system is used to correct the INS errors using BDS measurements and to calculate the velocity using the odometer in the navigation frame so as to improve the system reliability and accuracy. In addition, the integrated system also delivers accurate positioning measurements at a high update rate. When the BDS signals are blocked the integrated system switches to the INS/odometer/MM mode, and the integrated system corrects the INS errors by using odometer measurements. In order to evaluate the proposed system a real experiment was conducted on the Qinghai-Tibet railway in western China. The experimental results indicate that the proposed system can provide accurate and continuous positioning results in both open-sky and BDS signal-obstructed environments.
The application of Global Navigation Satellite System (GNSS) technology has meant that marine navigators have greater access to a more consistent and accurate positioning capability than ever before. However, GNSS may not be able to meet all emerging navigation performance requirements for maritime applications with respect to service robustness, accuracy, integrity and availability. In particular, applications in port areas (for example automated docking) and in constricted waterways, have very stringent performance requirements. Even when an integrated inertial navigation system (INS)/GNSS device is used there may still be performance gaps. GNSS signals are easily blocked or interfered with, and sometimes the satellite geometry may not be good enough for high accuracy and high reliability applications. Furthermore, the INS accuracy degrades rapidly during GNSS outages. This paper investigates the use of a portable ground-based positioning system, known as ‘Locata’, which was integrated with an INS, to provide accurate navigation in a marine environment without reliance on GNSS signals. An ‘on-the-fly’ Locata resolution algorithm that takes advantage of geometry change via an extended Kalman filter is proposed in this paper. Single-differenced Locata carrier phase measurements are utilized to achieve accurate and reliable solutions. A ‘loosely coupled’ decentralized Locata/INS integration architecture based on the Kalman filter is used for data processing. In order to evaluate the system performance, a field trial was conducted on Sydney Harbour. A Locata network consisting of eight Locata transmitters was set up near the Sydney Harbour Bridge. The experiment demonstrated that the Locata on-the-fly (OTF) algorithm is effective and can improve the system accuracy in comparison with the conventional ‘known point initialization’ (KPI) method. After the OTF and KPI comparison, the OTF Locata/INS integration is then assessed further and its performance improvement on both stand-alone OTF Locata and INS is shown. The Locata/INS integration can achieve centimetre-level accuracy for position solutions, and centimetre-per-second accuracy for velocity determination.
A good port management system must be able to perform safe, predictable and efficient execution of transport processes. In order to improve the quality of the port management, a robust navigation system is required, which enables to provide the positions of vessels 24/7 on either open or impeded environment. This paper describes a robust georeferencing system that could satisfy centimetre-level accuracy requirements in port environments. The design is based on the loosely-coupled integration of Global Navigation Satellite System (GNSS) technology, a terrestrial radio frequency ranging system known as "Locata", and an inertial navigation system (INS). GNSS observations are processed using the precise point positioning (PPP) approach instead of the conventional differential approach. To satisfy both accuracy and reliability requirements, three integration algorithms -centralised Kalman filtering (CKF), federated Kalman filtering (FKF) and global optimal filtering (GOF) -are investigated and implemented into a "triple-integrated" PPP-GNSS/Locata/INS system. A preliminary performance assessment, which is based on the analysis of real data, concludes that all the three integration algorithms are able to provide centimetre-level positioning solutions. The results show that the FKF and CKF algorithms have similar performance, whereas the GOF solution has higher accuracy. Moreover, outlier simulation is conducted and the result verifies the outlier fault-tolerant capability of the GOF based PPP-GNSS/Locata/INS integrated system.
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