A drift line bias estimator: ARMA-based filter or calibration method, and its application in BDS/GPS-based attitude determination

Zhang, Liang; Hou, Yanqing; Wu, Jie

doi:10.1007/s00190-016-0926-5

Cited by 10 publications

(5 citation statements)

References 23 publications

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“…There is no approximation. Third, the estimated UPD parameter can absorb time-varying perturbation due to temperature variations or rain [10]. Therefore, the solutions are more accurate and stable.…”

Section: Discussionmentioning

confidence: 99%

“…During the data processing, δN i = 0 when there is no cycle slip for satellite i or δN i = ∞ to assimilate the cycle slip. The disturbance of SD UPD is set as 1 × 10 −4 cycle by experience, or it can be increased appropriately to absorb the environmental temperature variation and the receiver-self inner circuit transmitting delay [10]. Moreover, these disturbances obey the process of statistical Markov; their variances are related to the time interval and their covariance matrix…”

Section: Single-difference (Sd) Observables With Single-epoch Kalman Filter (Kf) Modelmentioning

confidence: 99%

“…The recent discovery that the SD with common clock and DD observables and their attitude solutions are no longer equivalent has not been implemented. Second, the existence of SD uncalibrated phase delay (UPD) (which is the sum of initial phase biases and hardware delays, also called the line bias [10]) makes all SD ambiguities no longer integers due to the high correlations between SD UPD and SD ambiguities. Traditionally, only the DD observables of carrier phase observations can simultaneously eliminate the SD UPD, satellite, and receiver clock errors, and the DD ambiguities are integers by nature.…”

Section: Introductionmentioning

confidence: 99%

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High-Accuracy Attitude Determination Using Single-Difference Observables Based on Multi-Antenna GNSS Receiver with a Common Clock

et al. 2021

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A global navigation satellite system (GNSS) receiver with multi-antenna using clock synchronization technology is a powerful piece of equipment for precise attitude determination and reducing costs. The single-difference (SD) can eliminate both the satellites and receiver clock errors with the common clock between antennas, which benefits the GNSS short-baseline attitude determination due to its lower noise, higher redundancy and stronger function model strength. However, the existence of uncalibrated phase delay (UPD) makes it difficult to obtain fixed SD attitude solutions. Therefore, the key problem for the fixed SD attitude solutions is to separate the SD UPD and fix the SD ambiguities into integers between antennas. This article introduces the one-step ambiguity substitution approach to separate the SD UPD, through which we merge the SD UPD parameter with the SD ambiguity of the reference satellite ambiguity as the new SD UPD parameter. Reconstructing the other SD ambiguities, the rank deficiency can be remedied by nature, and the new SD ambiguities can have a natural integer feature. Finally, the fixed SD baseline and attitude solutions are obtained by combining the ambiguity substitution approach with integer ambiguity resolution (IAR). To verify the effect of the ambiguity substitution approach and the advantages of the SD observables with a common clock in practical applications, we conducted static, kinematic, and vehicle experiments. In static experiments, the root mean squared errors (RMSEs) of the yaw and pitch angles obtained by the SD observables with a common clock were improved by approximately 80% and 93%, respectively, compared to double-difference (DD) observables with a common clock in multi-day attitude solutions. The kinematic results show that the dispersion of the SD-Fix in the pitch angle is two times less that of the DD-Fix, and the standard deviations (STDs) of the pitch angle for SD-Fix can reach 0.02°. Based on the feasibility, five bridges with low pitch angles in the vehicle experiment environment, which the DD observables cannot detect, were detected by the SD observables with a common clock. The attitude angles obtained by the SD observables were also consistent with the fiber optic gyroscope (FOG) inertial navigation system (INS). This research on the SD observables with a common clock provides higher accuracy.

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Section: Discussionmentioning

confidence: 99%

Section: Single-difference (Sd) Observables With Single-epoch Kalman Filter (Kf) Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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High-Accuracy Attitude Determination Using Single-Difference Observables Based on Multi-Antenna GNSS Receiver with a Common Clock

et al. 2021

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“…Previous works have investigated the advantages of the SD model over the DD model with a common-clock receiver. It is found that with respect to the DD model, the achievable baseline accuracy of the SD model in the vertical could be improved to the same level as the horizontal, and the accuracy of pitch and roll could be improved to the same level as for yaw [8,[13][14][15][16][17].…”

Section: Introductionmentioning

confidence: 99%

“…However, when the SD model is applied, one must take into account the troublesome frequency-dependent phase line bias (LB), which is composed of the between-receiver phase hardware delay and initial phase bias [8]. Since the phase LBs could change to arbitrary values once the receiver is restarted, they should be real-time estimated with a proper system state model (e.g., random walk or time constant) rather than calibrated and corrected in advance [8,13]. However, the phase LBs cannot be estimated simultaneously with the SD ambiguities since they are linearly correlated.…”

Section: Introductionmentioning

confidence: 99%

Multi-dimensional particle filter-based estimation of phase line biases for single-differenced ambiguity resolution in GNSS-based attitude determination

Wu¹,

He²,

Wu³

et al. 2022

Meas. Sci. Technol.

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Global navigation satellite systems (GNSSs) have been widely used to provide real-time and high-precision attitude information for land vehicles, ships or aircrafts over the past decades. With the joint use of emerging multi-GNSS common-clock receivers and single-differenced (SD) model, the accuracy of pitch and roll can be significantly improved to the same level as yaw. However, the prerequisite is that the frequency-dependent phase line biases (LBs) in multiple GNSS systems and frequencies are accurately and rapidly estimated. In this contribution, we intend to solve this problem by using a multi-dimensional particle filter-based approach. We first investigate the relationship between the ratio value and the multi-dimensional phase LBs. Results have revealed that the ratio values can be used to judge the quality of multi-dimensional phase LBs and represent the likelihood function of observations. Then we present the procedure of multi-dimensional particle filter-based phase LBs estimation for SD ambiguity resolution and attitude determination. An improved strategy is also proposed to reduce the computation time. Finally, we take the two-dimensional case as an representative example to evaluate the performance of the proposed method in aspects of the convergence and accuracy of phase LB estimates, the attitude determination accuracy, and the computation time. Experimental results from two static datasets have demonstrated that the two-dimensional phase LBs basically rapid converge within 20 epochs. Moreover, compared with the double-differenced (DD) method, the proposed multi-dimensional particle filter-based SD method could provide comparable yaw accuracy and much better pitch accuracy. The pitch accuracy is improved to the same level as yaw by approximately 42.9%~50.0%. With regard to the computation time, it is found that with the proposed modification strategy, the single-epoch computation times are significantly reduced by approximately 90.7%~93.5%, and they are mostly within 0.05 s for most of the epochs on a personal computer.

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Improved pitch-constrained ambiguity function method for integer ambiguity resolution in BDS/MIMU-integrated attitude determination

Wang

Zhao

Pang

et al. 2018

J Geod

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A drift line bias estimator: ARMA-based filter or calibration method, and its application in BDS/GPS-based attitude determination

Cited by 10 publications

References 23 publications

High-Accuracy Attitude Determination Using Single-Difference Observables Based on Multi-Antenna GNSS Receiver with a Common Clock

High-Accuracy Attitude Determination Using Single-Difference Observables Based on Multi-Antenna GNSS Receiver with a Common Clock

Multi-dimensional particle filter-based estimation of phase line biases for single-differenced ambiguity resolution in GNSS-based attitude determination

Improved pitch-constrained ambiguity function method for integer ambiguity resolution in BDS/MIMU-integrated attitude determination

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