Integration of GNSS-PPP and IMU/SPEED Sensors in Urban Areas

Kubo, Nobuaki; Zhang, Yize; Hatta, Daisuke

doi:10.33012/2019.16782

Cited by 5 publications

(2 citation statements)

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“…To improve the robustness of GNSS, a method of integrating GNSS and the inertial measurement unit (IMU) has been proposed [ 16 , 17 , 18 , 19 , 20 , 21 , 22 , 23 , 24 , 25 ]. GNSS cannot estimate the position in places where the signal cannot be received, such as tunnels and under elevated buildings.…”

Section: Introductionmentioning

confidence: 99%

Improvement of Reliability Determination Performance of Real Time Kinematic Solutions Using Height Trajectory

Takanose

Atsumi

Takikawa

et al. 2021

Sensors

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Autonomous driving support systems and self-driving cars require the determination of reliable vehicle positions with high accuracy. The real time kinematic (RTK) algorithm with global navigation satellite system (GNSS) is generally employed to obtain highly accurate position information. Because RTK can estimate the fix solution, which is a centimeter-level positioning solution, it is also used as an indicator of the position reliability. However, in urban areas, the degradation of the GNSS signal environment poses a challenge. Multipath noise caused by surrounding tall buildings degrades the positioning accuracy. This leads to large errors in the fix solution, which is used as a measure of reliability. We propose a novel position reliability estimation method by considering two factors; one is that GNSS errors are more likely to occur in the height than in the plane direction; the other is that the height variation of the actual vehicle travel path is small compared to the amount of movement in the horizontal directions. Based on these considerations, we proposed a method to detect a reliable fix solution by estimating the height variation during driving. To verify the effectiveness of the proposed method, an evaluation test was conducted in an urban area of Tokyo. According to the evaluation test, a reliability judgment rate of 99% was achieved in an urban environment, and a plane accuracy of less than 0.3 m in RMS was achieved. The results indicate that the accuracy of the proposed method is higher than that of the conventional fix solution, demonstratingits effectiveness.

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Section: Introductionmentioning

confidence: 99%

Improvement of Reliability Determination Performance of Real Time Kinematic Solutions Using Height Trajectory

Takanose

Atsumi

Takikawa

et al. 2021

Sensors

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“…In the last section, we conclude our study. As for the test results of MADOCA with IMU/Odometer, please refer to the proceedings of Pacific ION 2019 [14].…”

Section: Introductionmentioning

confidence: 99%

Improved Integration Method of Wide-area RTK/PPP with IMU and Odometer

Kubo¹,

Hatta²,

Kobayashi³

et al. 2020

Proceedings of the 2020 International Technical Meeting of the Institute of Navigation

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The Quasi-Zenith Satellite System (QZSS), Japanese positioning satellite constellation has two types of precise point positioning (PPP) services: centimeter-level augmentation service (CLAS) for land and multi-GNSS advanced demonstration tool for orbit and clock analysis (MADOCA). Currently, both CLAS and PPP correction data are broadcasted through the QZSS. It is highly good time to evaluate CLAS and PPP service in Japan. CLAS service has advantage in convergence time compared with PPP service. In the case of short gap like as overpasses, the convergence time is within 1 minute. The motivation of this research is to investigate the integration of CLAS or PPP results and our previous integration method using low-cost IMU/Odometer sensors. In reality, several commercial receivers capable of using CLAS or PPP correction services are already released in Japan. We used outputs of these receivers for absolute positions and loosely-coupled integration using Kalman filter is used to integrate them. The test data were obtained on the sea and expressway in 2019. Firstly, the performance of PPP and CLAS on the sea using the commercial receiver was evaluated. For the reference of these positions, normal RTK was obtained in parallel in this test on the sea. In the test on the expressway, POLSV was used in parallel to produce the precise positions as a reference. Looking at the test results on the sea, the fix rate of CLAS was from 63 % to 94. The standard deviation in horizontal was within 10 cm. On the other hand, the result of PPP was slightly worse than the result of CLAS. We didn't evaluate the integrated navigation on the sea because it was impossible for us to obtain the speed information from the ship for now. Looking at the test results on the expressway, the fix rate of CLAS was also good over 70 %. The navigation performance of this integrated system was analyzed. The horizontal accuracy including some GNSS outages was stable and the standard deviation of all horizontal errors was 0.35 m. The 99 percentile value for the absolute horizontal errors was 1.34 m. 99.57 % of all solutions were less than 1.5 m. With regard to the test results of PPP and integrated system on the expressway, the results were introduced in Pacific ION 2019.

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