The improvement in integer ambiguity resolution with INS aiding for kinematic precise point positioning

Zhang, Xiaohong; Zhu, Feng; Zhang, Yuxi; Freeshah, Mohamed; Zhou, Wuxing

doi:10.1007/s00190-018-1222-3

Cited by 45 publications

(13 citation statements)

References 31 publications

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“…Ref. [39] analyzed the impact of an inertial navigation system (INS) on PPP-AR re-convergence using GPS and GLONASS on two frequencies, and was able to achieve convergence (time to first fix (TTFF)) in approximately 30 min. Ref.…”

Section: Discussionmentioning

confidence: 99%

Approaching Global Instantaneous Precise Positioning with the Dual- and Triple-Frequency Multi-GNSS Decoupled Clock Model

Naciri

Bisnath

2021

Remote Sensing

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Precise Point Positioning (PPP), as a global precise positioning technique, suffers from relatively long convergence times, hindering its ability to be the default precise positioning technique. Reducing the PPP convergence time is a must to reach global precise positions, and doing so in a few minutes to seconds can be achieved thanks to the additional frequencies that are being broadcast by the modernized GNSS constellations. Due to discrepancies in the number of signals broadcast by each satellite/constellation, it is necessary to have a model that can process a mix of signals, depending on availability, and perform ambiguity resolution (AR), a technique that proved necessary for rapid convergence. This manuscript does so by expanding the uncombined Decoupled Clock Model to process and fix ambiguities on up to three frequencies depending on availability for GPS, Galileo, and BeiDou. GLONASS is included as well, without carrier-phase ambiguity fixing. Results show the possibility of consistent quasi-instantaneous global precise positioning through an assessment of the algorithm on a network of global stations, as the 67th percentile solution converges below 10 cm horizontal error within 2 min, compared to 8 min with a triple-frequency solution, showing the importance of having a flexible PPP-AR model frequency-wise. In terms of individual datasets, 14% of datasets converge instantaneously when mixing dual- and triple-frequency measurements, compared to just 0.1% in that of dual-frequency mode without ambiguity resolution. Two kinematic car datasets were also processed, and it was shown that instantaneous centimetre-level positioning with a moving receiver is possible. These results are promising as they only rely on ultra-rapid global satellite products, allowing for instantaneous real-time precise positioning without the need for any local infrastructure or prior knowledge of the receiver’s environment.

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Section: Discussionmentioning

confidence: 99%

Approaching Global Instantaneous Precise Positioning with the Dual- and Triple-Frequency Multi-GNSS Decoupled Clock Model

Naciri

Bisnath

2021

Remote Sensing

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“…This system is capable not only of improving the ambiguity estimates but, also, in addition, it is equipped with spatial orientation mechanisms [ 21 , 27 , 28 , 44 ]. The authors of reference [ 45 ] described the significantly increased success rate of solving the ambiguity under a viaduct by the joint use of two RTKs of two mobile devices. This study also explored the possibilities to determine their relative position using LiDAR.…”

Section: Methodsmentioning

confidence: 99%

Comparison of Four RTK Receivers Operating in the Static and Dynamic Modes Using Measurement Robotic Arm

Kadeřábek

Shapoval

Matějka

et al. 2021

Sensors

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While the existing research provides a wealth of information about the static properties of RTK receivers, less is known about their dynamic properties, although it is clear that the vast majority of field operations take place when the machine is moving. A new method using a MRA for the evaluation of RTK receivers in movement with a precise circular reference trajectory (r = 3 m) was proposed. This reference method was developed with the greatest possible emphasis on the positional, time and repeatable accuracy of ground truth. Four phases of the measurement scenario (static, acceleration, uniform movement and deceleration) were used in order to compare four different types of RTK receiver horizontal operation accuracy over three measurement days. The worst result of one of the receivers was measured at SSR = 13.767% in dynamic movement. Since the same “low-cost” receiver without an INS unit had SSR = 98.14% in previous static measurements, so it can be assumed that the motion had a very significant effect on the dynamic properties of this receiver. On the other hand, the best “high-end” receiver with an INS unit had SSR = 96.938% during the dynamic testing scenarios. The median values of the deviations were always better during uniform movements than during acceleration or braking. In general, the positioning accuracy was worse in the dynamic mode than in the static one for all the receivers. Error indicators (RMSerr and Me) were found several times higher in the dynamic mode than in the static one. These facts should be considered in the future development of modern agricultural machinery and technology.

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“…; and W k−1 is the discrete version of system noise vector. e system modelling is derived from the dynamic equation of INS [33,34]. Since the double-differenced observations do not need to estimate the satellite clock bias, the observable errors are only INS errors.…”

Section: System Modelmentioning

confidence: 99%

A Tightly Coupled BDS/INS Integrated Positioning Algorithm Based on Triple-Frequency Single-Epoch Observations

Pan

Gao

et al. 2021

Mathematical Problems in Engineering

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Vehicular dynamic positioning based on tightly coupled (TC) Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) integration in urban areas is due to either low accuracy of pseudorange or poor continuity of carrier phase, resulting in insufficient positioning performance. To enhance the stability while ensuring positioning accuracy, this paper proposed a tightly coupled Beidou Navigation Satellite System (BDS)/INS integration scheme by improving measurement modelling with triple-frequency observations: first, a stepwise single-epoch ambiguity resolution of extra-wide-lane (EWL)/wide-lane (WL) combined observations and then modelling the measurement equation with fixed WL observation instead of conventional pseudorange or carrier phase. Experiments were carried out for verification with data collected in real traffic by a measurement vehicle. The proposed method achieved single-epoch output with an RMS statistical accuracy of decimetre level of 0.152 m horizontally and 0.196 m vertically. The signal outage experiment verified that the proposed algorithm is restoring high-accuracy positioning output in single-epoch once the signal is recaptured. The proposed method obtained a positioning accuracy improvement of 43.6% horizontally and 6.2% vertically in signal outage sections compared to the conventional method. This avoids the multiepoch ambiguity searching to fix with conventional carrier-phase processing, thereby improving the positioning stability.

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The improvement in integer ambiguity resolution with INS aiding for kinematic precise point positioning

Cited by 45 publications

References 31 publications

Approaching Global Instantaneous Precise Positioning with the Dual- and Triple-Frequency Multi-GNSS Decoupled Clock Model

Approaching Global Instantaneous Precise Positioning with the Dual- and Triple-Frequency Multi-GNSS Decoupled Clock Model

Comparison of Four RTK Receivers Operating in the Static and Dynamic Modes Using Measurement Robotic Arm

A Tightly Coupled BDS/INS Integrated Positioning Algorithm Based on Triple-Frequency Single-Epoch Observations

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