MIMU/Odometer Fusion with State Constraints for Vehicle Positioning during BeiDou Signal Outage: Testing and Results

Zhu, Kai; Guo, Xuan; Jiang, Changhui; Xue, Yujingyang; Li, Yuanjun; Han, Lin; Chen, Yu Wei

doi:10.3390/s20082302

Cited by 14 publications

(7 citation statements)

References 29 publications

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“…Development and testing of the new integration algorithms offer the following perspective for GNSS outage solutions [66,[131][132][133], including the SLAM-based integration scheme [134][135][136]. Additional onboard sensors that can be used for navigation are required to improve the performance of navigation systems, which will allow the system to sustain prolonged GNSS outages [137][138][139][140], including LiDAR [120,141,142].…”

Section: Discussionmentioning

confidence: 99%

Mobile Laser Scanning Data Collected under a Forest Canopy with GNSS/INS-Positioned Systems: Possibilities of Processability Improvements

Čeňava,

Tuček,

Chudá

et al. 2024

Remote Sensing

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GNSS/INS-based positioning must be revised for forest mapping, especially inside the forest. This study deals with the issue of the processability of GNSS/INS-positioned MLS data collected in the forest environment. GNSS time-based point clustering processed the misaligned MLS point clouds collected from skid trails under a forest canopy. The points of a point cloud with two misaligned copies of the forest scene were manually clustered iteratively until two partial point clouds with the single forest scene were generated using a histogram of GNSS time. The histogram’s optimal bin width was the maximum bin width used to create the two correct point clouds. The influence of GNSS outage durations, signal strength statistics, and point cloud parameters on the optimal bin width were then analyzed using correlation and regression analyses. The results showed no significant influence of GNSS outage duration or GNSS signal strength from the time range of scanning the two copies of the forest scene on the optimal width. The optimal bin width was strongly related to the point distribution in time, especially by the duration of the scanned plot’s occlusion from reviewing when the maximum occlusion period influenced the optimal bin width the most (R2 = 0.913). Thus, occlusion of the sub-plot scanning of tree trunks and the terrain outside it improved the processability of the MLS data. Therefore, higher stem density of a forest stand is an advantage in mapping as it increases the duration of the occlusions for a point cloud after it is spatially tiled.

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Section: Discussionmentioning

confidence: 99%

Mobile Laser Scanning Data Collected under a Forest Canopy with GNSS/INS-Positioned Systems: Possibilities of Processability Improvements

Čeňava,

Tuček,

Chudá

et al. 2024

Remote Sensing

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“…BDS is capable of providing positioning and navigation, two-way communication, and precise timing service anytime and anywhere within the coverage area [17], these functions make BDS not only work as GPS but also work as an INMARSAT system to realize maritime communication [18]. Existing studies have evaluated the progress and performance of BDS [19]- [21] and applied to many scenarios, such as precise positioning [22], [21], fire warning [23], smart grid [24], emergency rescue [25], [26], environment monitoring [27], [28].…”

Section: A Research On Maritime Communication Based On Iov-bdsmentioning

confidence: 99%

“…τ min and τ max can be obtained by expression (22), the σ is obtained by experiments. Here, σ = n/20.…”

Section: Pheromone Update Rulesmentioning

confidence: 99%

Marine Cold Chain Transportation Monitoring and Route Scheduling Optimization Based on IoV-BDS

2021

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Recently, the research of the internet of vessels system is a hotspot in the marine engineering area. In this article, the Internet of Vessels based on Beidou satellite navigation system (IoV-BDS) architecture is proposed for marine cold chain transportation monitoring and scheduling. An improved communication method using Beidou short-message communication (SMC) is designed to ensure the reliability of ship-shore data transmission. Additionally, based on the IoV-BDS, we proposed a novel route scheduling optimization model which considers the key costs for marine cold chain transportation, such as fuel, catches damage, and refrigeration energy consumption, and designed a speed selection mechanism. Furthermore, an improved ant colony optimization (IACO) algorithm was utilized to optimize the whole fleet transportation routes, which takes advantage of the A-star algorithm to speed up the convergence of ant colony algorithm (ACO), a novel state transition rule was used to prevent falling into a locally optimal solution. The applicability of IoV-BDS was verified by the shipboard data acquisition and Beidou SMC experiments. The performance evaluation and analysis of route optimization schemes were presented by simulations and comparison with other schemes. The results demonstrated the benefit of our proposed schemes, in terms of solution quality and convergence of the algorithm.INDEX TERMS IoV, Beidou SMC, cold chain, route optimization, refrigerator ship.

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“…An overview of the settings applied for the different processing schemes can be found in Table 1. Parameter constraints have been extensively used in GNSS processing (e.g., [41,42]) as well as sensor fusion algorithms [43,44]. In this study, we make use of a state constraint on the height coordinate to support ZTD estimation.…”

Section: Ppp Processingmentioning

confidence: 99%

Kinematic ZTD Estimation from Train-Borne Single-Frequency GNSS: Validation and Assimilation

Aichinger-Rosenberger

Weber

Hanna

2021

Remote Sensing

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Water vapour is one of the most important parameters utilized for the description of state and evolution of the Earth’s atmosphere. It is the most effective greenhouse gas and shows high variability, both in space and time. Thus, detailed knowledge of its distribution is of immense importance for weather forecasting, and therefore high resolution observations are crucial for accurate precipitation forecasts, especially for the short-term prediction of severe weather. Although not intentionally built for this purpose, Global Navigation Satellite Systems (GNSS) have proven to meet those requirements. The derivation of water vapour content from GNSS observations is based on the fact that electromagnetic signals are delayed when travelling through the atmosphere. The most prominent parameterization of this delay is the Zenith Total Delay (ZTD), which has been studied extensively as a major error term in GNSS positioning. On the other hand, the ZTD has also been proven to provide substantial benefits for atmospheric research and especially Numerical Weather Prediction (NWP) model performance. Based on these facts, the scientific area of GNSS Meteorology has emerged. The present study goes beyond the current status of GNSS Meteorology, showing how reasonable estimates of ZTD can be derived from highly-kinematic, single-frequency (SF) GNSS data. This data was gathered from trains of the Austrian Federal Railways (ÖBB) and processed using the Precise Point Positioning (PPP) technique. The special nature of the observations yields a number of additional challenges, ranging from appropriate pre-processing and parameter settings in PPP to more sophisticated validation and assimilation methodologies . The treatment of the ionosphere for SF-GNSS data represents one of the major challenges of this study. Two test cases (train travels) were processed using different strategies and validated using ZTD calculated from ERA5 reanalysis data. The validation results indicate a good overall agreement between the GNSS-ZTD solutions and ERA5-derived ZTD, although substantial variability between solutions was still observed for specific sections of the test tracks. The bias and standard deviation values ranged between 1 mm and 8 cm, heavily depending on the utilized processing strategy and investigated train route. Finally, initial experiments for the assimilation of GNSS-ZTD estimates into a NWP model were conducted, and the results showed observation acceptance rates of 30–100% largely depending on the test case and processing strategy.

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MIMU/Odometer Fusion with State Constraints for Vehicle Positioning during BeiDou Signal Outage: Testing and Results

Cited by 14 publications

References 29 publications

Mobile Laser Scanning Data Collected under a Forest Canopy with GNSS/INS-Positioned Systems: Possibilities of Processability Improvements

Mobile Laser Scanning Data Collected under a Forest Canopy with GNSS/INS-Positioned Systems: Possibilities of Processability Improvements

Marine Cold Chain Transportation Monitoring and Route Scheduling Optimization Based on IoV-BDS

Kinematic ZTD Estimation from Train-Borne Single-Frequency GNSS: Validation and Assimilation

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