Performance Analysis on Carrier Phase-Based Tightly-Coupled GPS/BDS/INS Integration in GNSS Degraded and  Denied Environments

Han, Hyangsun; Wang, Jian; Wang, Jinling; Tan, Xinglong

doi:10.3390/s150408685

Cited by 63 publications

(43 citation statements)

References 30 publications

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“…We processed, on a daily basis, the data into the TECM. We applied elevation‐dependent weighting function [see Han et al , , equation 9], in which the zenith‐referenced standard deviation was set to 30 cm for the code and to 0.3 cm for the carrier phase. These stochastic model settings are, in general, standard for representing the quality of GPS data.…”

Section: Numerical Resultsmentioning

confidence: 99%

Three methods to retrieve slant total electron content measurements from ground‐based GPS receivers and performance assessment

Zhang

2016

Radio Science

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The high sampling rate along with the global coverage of ground‐based receivers makes Global Positioning System (GPS) data particularly ideal for sensing the Earth's ionosphere. Retrieval of slant total electron content measurements (TECMs) constitutes a key first step toward extracting various ionospheric parameters from GPS data. Within the ionospheric community, the interpretation of TECM is widely recognized as the slant total electron content along the satellite receiver line of sight, biased by satellite and receiver differential code biases (DCBs). The Carrier‐to‐Code Leveling (CCL) has long been used as a geometry‐free method for retrieving TECM, mainly because of its simplicity and effectiveness. In fact, however, the CCL has proven inaccurate as it may give rise to TECM very susceptible to so‐called leveling errors. With the goal of attaining more accurate TECM retrieval, we report in this contribution two other methods than the CCL, namely, the Precise Point Positioning (PPP) and the Array‐aided PPP (A‐PPP). The PPP further exploits the International GPS Service (IGS) orbit and clock products and turns out to be a geometry‐based method. The A‐PPP is designed to retrieve TECM from an array of colocated receivers, taking advantage of the broadcast orbit and clock products. Moreover, A‐PPP also takes into account the fact that the ionospheric effects measured from one satellite to all colocated receivers ought to be the same, thus leading to the estimability of interreceiver DCB. We perform a comparative study of the formal precision and the empirical accuracy of the TECM that are retrieved, respectively, by three methods from the same set of GPS data. Results of such a study can be used to assess the actual performance of the three methods. In addition, we check the temporal stability in A‐PPP‐derived interreceiver DCB estimates over time periods ranging from 1 to 3 days.

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Section: Numerical Resultsmentioning

confidence: 99%

Three methods to retrieve slant total electron content measurements from ground‐based GPS receivers and performance assessment

Zhang

2016

Radio Science

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“…To solve this task, an autonomous transport machine must be equipped with a set of sensors that allow it to accurately determine its position relative to the surrounding limits. Currently, the most commonly used navigation systems for agricultural machines are the Global Navigation Satellite System (GNSS), Machine Vision Navigation System, Light Detection and Ranging (LIDAR), and Combined Navigation Systems composed of two or more subsystems [2][3][4][5][6][7]. The most affordable sensor for direct measurement of position, GNSS, does not reach this level of accuracy [8].…”

Section: Introductionmentioning

confidence: 99%

3D Autonomous Navigation Line Extraction for Field Roads Based on Binocular Vision

Wang

Liu³

2019

Journal of Sensors

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This paper proposes a 3D autonomous navigation line extraction method for field roads in hilly regions based on a low-cost binocular vision system. Accurate guide path detection of field roads is a prerequisite for the automatic driving of agricultural machines. First, considering the lack of lane lines, blurred boundaries, and complex surroundings of field roads in hilly regions, a modified image processing method was established to strengthen shadow identification and information fusion to better distinguish the road area from its surroundings. Second, based on nonobvious shape characteristics and small differences in the gray values of the field roads inside the image, the centroid points of the road area as its statistical feature was extracted and smoothed and then used as the geometric primitives of stereo matching. Finally, an epipolar constraint and a homography matrix were applied for accurate matching and 3D reconstruction to obtain the autonomous navigation line of the field roads. Experiments on the automatic driving of a carrier on field roads showed that on straight roads, multicurvature complex roads and undulating roads, the mean deviations between the actual midline of the road and the automatically traveled trajectory were 0.031 m, 0.069 m, and 0.105 m, respectively, with maximum deviations of 0.133, 0.195 m, and 0.216 m, respectively. These test results demonstrate that the proposed method is feasible for road identification and 3D navigation line acquisition.

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“…The SINS measures the acceleration and the angular velocity by the inertial sensors, and calculates the position, velocity and the attitude based on a navigation algorithm. However, the accuracy of the provided information depends on the inertial sensors (gyroscopes and accelerometers) and the navigation errors accumulates with the time [4,5]. The Global Positioning System (GPS) is a radiodefined navigation system which can provide real-time, all-weather, and global navigation information (position, velocity, and time).…”

Section: Introductionmentioning

confidence: 99%

Implementation and performance evaluation of a fast relocation method in a GPS/SINS/CSAC integrated navigation system hardware prototype

Jiang

Shuai

et al. 2017

IEICE Electron. Express

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In this paper, a fast relocation method is proposed, implemented and evaluated in a DSP/FPGA based GPS/SINS/CSAC deep integration hardware prototype. For the GPS receiver, when signal appears after the signal blockage or signal interference, the precise time information based on the reference of the CSAC and the position information from the SINS combined with the ephemeris can be used to calculate the frame counts and aid the realization of the fast relocation. A field test is conducted to verify and evaluate the performance of the algorithm. The results demonstrate that the proposed fast relocation algorithm can largely reduce the receiver relocation time. The result shows the relocation can be realized during 1 second while the traditional receiver usually needs at least 6 seconds for the relocation after the signal blockage.

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Performance Analysis on Carrier Phase-Based Tightly-Coupled GPS/BDS/INS Integration in GNSS Degraded and Denied Environments

Cited by 63 publications

References 30 publications

Three methods to retrieve slant total electron content measurements from ground‐based GPS receivers and performance assessment

Three methods to retrieve slant total electron content measurements from ground‐based GPS receivers and performance assessment

3D Autonomous Navigation Line Extraction for Field Roads Based on Binocular Vision

Implementation and performance evaluation of a fast relocation method in a GPS/SINS/CSAC integrated navigation system hardware prototype

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