An INS-assisted vector tracking receiver with multipath error estimation for dense urban canyons

Yan, Zhe; Ruotsalainen, Laura; Chen, Xiyuan; Tang, Xinhua

doi:10.1007/s10291-023-01431-7

Cited by 7 publications

(5 citation statements)

References 22 publications

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“…Some scholars have discussed the suppression of the multipath effect of VTL in depth, proving that the VTL has a higher resistance to signal interference, such as multipath, compared to the STL [5,35]. In addition, the design and optimization methods of the VTL have investigated to further improve its performance and ability to suppress the multipath effect and enhance the accuracy and reliability of GNSS measurements [36,37]. Based on the above positioning and velocity results, it can be concluded that the algorithm in this study improves the GNSS positioning effect in an occluded environment.…”

Section: Static Test Resultsmentioning

confidence: 99%

A MCKF-based cascade vector tracking method designed for ship navigation

Liu,

Ma,

et al. 2024

Meas. Sci. Technol.

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In ship navigation, the most widely used technology is Global Navigation Satellite Systems (GNSS), which provide the ship’s position and velocity continuously over a period of time. However, when ships are blocked by port buildings or bridges, the quality of signals received from shipborne GNSS receivers may be reduced, resulting in inaccurate ship positioning that poses a risk to navigational safety. In an occluded environment, the measurement process during the signal processing of shipborne GNSS receivers is nonstationary and prone to measurement anomalies, which can contaminate measurement noise with outliers. To address this problem, a cascaded non-coherent vector tracking loop (VTL) is designed, with the Maximum correntropy Kalman filter (MCKF) serving as a cascaded carrier/code pre-filter for shipborne GNSS receivers. The measurement noise covariance matrix of the pre-filter is adaptively calculated and corrected using the carrier-to-noise ratio (CNR) and the maximum correntropy criterion, respectively. The algorithm proposed is more sensitive to outliers than the traditional tracking methods and can effectively solve the state estimation problem under the condition of measurement anomalies. Specifically, the algorithm offers ships with more precise position and velocity estimations and lower signal tracking errors than traditional tracking methods under both static and dynamic conditions, as demonstrated by shipboard experiments. The horizontal positioning is increased by 88.4% and the horizontal velocity error is reduced by 62.1% in the occluded environment under dynamic conditions.

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Section: Static Test Resultsmentioning

confidence: 99%

A MCKF-based cascade vector tracking method designed for ship navigation

Liu,

Ma,

et al. 2024

Meas. Sci. Technol.

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show abstract

“…The integration navigation technology based on multiple sensors is currently an effective way to achieve high-precision navigation [14]. In addition to incorporating the Inertial Navigation System (INS) and Celestial Navigation System (CNS), it can also integrate various types of sensor information, such as map data and radar, to enhance the stability and reliability of the navigation system.…”

Section: Related Workmentioning

confidence: 99%

A Robust Vector-Tracking Loop Based on KF and RTS Smoothing for Shipborne Navigation

Hu,

Wu,

Lou

et al. 2024

JMSE

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High-precision navigation systems are crucial for unmanned autonomous vessels. However, commonly used Global Navigation Satellite System (GNSS) signals are often severely affected by environmental obstruction, leading to reduced positioning accuracy or even the inability to locate. To address the issues caused by signal obstruction in high-precision navigation systems, the research presented in this paper proposes a vector-tracking loop (VTL) structure based on the forward Kalman Filter (KF) and the backward Rauch Tung Striebel (RTS) smoothing algorithm. The introduction of loop filters in the signal-tracking loop improves the tracking accuracy of the carrier and code, thereby enhancing the stability and robustness of the navigation system. The traditional scalar-tracking loop (STL), traditional VTL, and Kalman Filter (KF)−based VTL were compared through shipborne motion experiments, and the proposed method demonstrated superior signal-tracking capability and navigation accuracy. In the experiment, there were three blocking areas along the experimental path. The experimental results show that, when there are signal blockages of 12 s, 18 s, and 40 s, compared to the traditional VTL method, the proposed method can reduce the horizontal position error by 93.9%, 95.8%, and 94.5%, respectively, as well as the horizontal velocity error by 71.1%, 95.8%, and 97.6%, respectively.

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“…Zou and Jia respectively employed a fault-tolerant algorithm based on robust estimation and the instant bias detection and correction method to enhance the robustness of VTL in multipath environments and improve the navigation reliability [31,32]. Yan, Zou, Cortes et al utilized inertial navigation system assistance in VTLs to achieve continuous tracking of GNSS signals in obstructed areas such as dense urban canyons and even signal interruption zones [33][34][35].…”

Section: Introductionmentioning

confidence: 99%

Enhancing USVs navigation based on minimum error entropy of GPS vector tracking

Liu,

Chen,

et al. 2024

Meas. Sci. Technol.

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In recent years, Unmanned Surface Vehicles (USVs) have increasingly been used for river monitoring and hydrological surveys. USVs rely on global navigation satellite systems (GNSS) for navigation. However, signal blocking can cause the traditional GNSS vector tracking loop to increase the code phase and carrier frequency errors, leading to higher positioning errors that do not meet USVs’ requirements. To address this problem, we propose a vector tracking method based on the minimum error entropy (MEE) in the signal tracking module. The minimum error entropy Kalman filter (MEEKF) is adopted as the loop filter to mitigate code phase and carrier frequency errors, reduce non-Gaussian noise and random errors generated by signal blocking, and enhance the positioning accuracy and robustness of USV navigation. The measurement noise covariance of the loop filter was adjusted adaptively using the signal carrier-to-noise ratio (CNR). A field experiment was conducted using a commercial GNSS receiver as reference. The results demonstrate a 19.3% improvement in positioning accuracy compared with the traditional method in an open environment. Moreover, the proposed method maintains stable operation and achieves a 79.4% improvement in positioning accuracy during signal blocking. This novel algorithm offers a new concept for USV navigation systems to cope with signal blocking.

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An INS-assisted vector tracking receiver with multipath error estimation for dense urban canyons

Cited by 7 publications

References 22 publications

A MCKF-based cascade vector tracking method designed for ship navigation

A MCKF-based cascade vector tracking method designed for ship navigation

A Robust Vector-Tracking Loop Based on KF and RTS Smoothing for Shipborne Navigation

Enhancing USVs navigation based on minimum error entropy of GPS vector tracking

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