Modelling for Resilient Navigation via Collaboration

Wang, Rong; Xiong, Zhi; Liu, Jianye

doi:10.1007/978-981-19-8371-9_3

Cited by 1 publication

(1 citation statement)

References 26 publications

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“…The major aim of this investigation was to evaluate the positioning in GNSS-challenged environments [ 28 ] when GNSS and UWB measurements are fused with a WLS approach, as shown in Section 3.3 . This section presents the ranging and positioning performance of the proposed approach for data collected as shown in Section 4 .…”

Section: Resultsmentioning

confidence: 99%

Fusion of GNSS Pseudoranges with UWB Ranges Based on Clustering and Weighted Least Squares

Retscher

Kiss

Gabela

2023

Sensors

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Global navigation satellite systems (GNSSs) and ultra-wideband (UWB) ranging are two central research topics in the field of positioning and navigation. In this study, a GNSS/UWB fusion method is investigated in GNSS-challenged environments or for the transition between outdoor and indoor environments. UWB augments the GNSS positioning solution in these environments. GNSS stop-and-go measurements were carried out simultaneously to UWB range observations within the network of grid points used for testing. The influence of UWB range measurements on the GNSS solution is examined with three weighted least squares (WLS) approaches. The first WLS variant relies solely on the UWB range measurements. The second approach includes a measurement model that utilizes GNSS only. The third model fuses both approaches into a single multi-sensor model. As part of the raw data evaluation, static GNSS observations processed with precise ephemerides were used to define the ground truth. In order to extract the grid test points from the collected raw data in the measured network, clustering methods were applied. A self-developed clustering approach extending density-based spatial clustering of applications with noise (DBSCAN) was employed for this purpose. The results of the GNSS/UWB fusion approach show an improvement in positioning performance compared to the UWB-only approach, in the range of a few centimeters to the decimeter level when grid points were placed within the area enclosed by the UWB anchor points. However, grid points outside this area indicated a decrease in accuracy in the range of about 90 cm. The precision generally remained within 5 cm for points located within the anchor points.

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Section: Resultsmentioning

confidence: 99%