Pub Date : 2020-11-23DOI: 10.23919/ENC48637.2020.9317392
A. Hesselbarth, L. Wanninger
Nowadays, Android enables the access of GNSS raw data and, thus, an in-depth evaluation of smartphone GNSS observations. We analysed and compared GNSS code and phase observations and the achievable position accuracies of three Android devices: tablet Google Nexus 9, smartphones Xiaomi Mi8 and Huawei P30. Not all the phase observables of these devices possess the property of integer ambiguities. We were able to perform precise antenna calibrations on GPS L1 for both smartphones and obtained corrections for the phase center offsets and phase center variations. The latter do not exceed 1 to 2 cm. With successful ambiguity fixing, we achieved standard deviations of the 3D positions of 2 to 3 cm after 30 minutes of static observations in baseline mode.
{"title":"Towards centimeter accurate positioning with smartphones","authors":"A. Hesselbarth, L. Wanninger","doi":"10.23919/ENC48637.2020.9317392","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317392","url":null,"abstract":"Nowadays, Android enables the access of GNSS raw data and, thus, an in-depth evaluation of smartphone GNSS observations. We analysed and compared GNSS code and phase observations and the achievable position accuracies of three Android devices: tablet Google Nexus 9, smartphones Xiaomi Mi8 and Huawei P30. Not all the phase observables of these devices possess the property of integer ambiguities. We were able to perform precise antenna calibrations on GPS L1 for both smartphones and obtained corrections for the phase center offsets and phase center variations. The latter do not exceed 1 to 2 cm. With successful ambiguity fixing, we achieved standard deviations of the 3D positions of 2 to 3 cm after 30 minutes of static observations in baseline mode.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114277389","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-11-23DOI: 10.23919/ENC48637.2020.9317374
R. M. Calvo, J. Poliak, J. Surof, R. Wolf
The adoption of optical inter-satellite links in future evolutions of Global Navigation Satellite Systems could enable key capabilities such as intra-system communication, time-transfer and precise ranging. This work reports on the development of a laboratory demonstrator designed to verify the performance of two-way optical links in a controlled environment. First test results on the performance of bi-directional frequency transfer and single directional ranging over a 30 m free-space link are reported.
{"title":"Evaluation of optical ranging and frequency transfer for the Kepler system : preliminary laboratory tests","authors":"R. M. Calvo, J. Poliak, J. Surof, R. Wolf","doi":"10.23919/ENC48637.2020.9317374","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317374","url":null,"abstract":"The adoption of optical inter-satellite links in future evolutions of Global Navigation Satellite Systems could enable key capabilities such as intra-system communication, time-transfer and precise ranging. This work reports on the development of a laboratory demonstrator designed to verify the performance of two-way optical links in a controlled environment. First test results on the performance of bi-directional frequency transfer and single directional ranging over a 30 m free-space link are reported.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132279672","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-11-23DOI: 10.23919/ENC48637.2020.9317486
V. Schneider, Cosmin Delea, J. Oeffner, Benjamin Sarpong, Hans-Christoph Burmeister, C. Jahn
The development of Unmanned Surface Vehicles (USVs) has been impelled in recent decades by oceanographic and military applications. USVs are ideally suited to perform routine tasks in port environments - such as collecting bathymetry data - and can act as a platform to develop new applications for the port of the future. This paper elaborates possible robotic service concepts for a port environment and describes the construction of a demonstration vehicle as a modular platform as well as the integration of the necessary software infrastructure in order to show the complete service pipeline. A key component of the development is the involvement of practitioners and potential end users from the port authority of Europe's 3rd largest seaport- the port of Hamburg.
{"title":"Robotic service concepts for the port of tomorrow: Developed via a small-scale demonstration testbed","authors":"V. Schneider, Cosmin Delea, J. Oeffner, Benjamin Sarpong, Hans-Christoph Burmeister, C. Jahn","doi":"10.23919/ENC48637.2020.9317486","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317486","url":null,"abstract":"The development of Unmanned Surface Vehicles (USVs) has been impelled in recent decades by oceanographic and military applications. USVs are ideally suited to perform routine tasks in port environments - such as collecting bathymetry data - and can act as a platform to develop new applications for the port of the future. This paper elaborates possible robotic service concepts for a port environment and describes the construction of a demonstration vehicle as a modular platform as well as the integration of the necessary software infrastructure in order to show the complete service pipeline. A key component of the development is the involvement of practitioners and potential end users from the port authority of Europe's 3rd largest seaport- the port of Hamburg.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127412433","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-11-23DOI: 10.23919/ENC48637.2020.9317397
Marco Fortunato, A. Mazzoni
Few years after the first release of Android GNSS Raw Measurements API, Android smartphones are increasingly becoming the most competitive GNSS mass-market device. The developments in GNSS space and user - mainly related to smartphone manufacturers - segments allowed to show meter and sub-meter accuracy in static and kinematic applications using GNSS observations collected from Android smartphones. Unlike the large number of published researches which deals with the analyses of Android GNSS Raw Measurements and the achievable accuracy in the position domain, the aim of this work is to study the velocity field directly estimated in pedestrian scenarios from Android GNSS measurements. The 3D velocity, estimated with accuracy from few mm/s to 1–2 cm/s - respectively for the horizontal and vertical components - with the kin-VADASE (Variometric Apporach for Displacement Analysis Stand-alone Engine) developed at Sapienza University of Rome, are here applied in the field of gestures reconstruction and heading determination in pedestrian scenarios. The results discussed in the paper show immediate, stable and reliable velocity confirming the key role that Android smartphones are acquiring in mass-market application, e.g. mHealth, AR, fitness and sports.
在Android GNSS Raw Measurements API首次发布几年后，Android智能手机正日益成为最具竞争力的GNSS大众市场设备。GNSS空间和用户(主要与智能手机制造商有关)细分市场的发展允许使用从Android智能手机收集的GNSS观测数据在静态和运动学应用中显示米级和亚米级精度。与大量已发表的关于Android GNSS原始测量数据分析和位置域可实现精度的研究不同，本研究的目的是研究Android GNSS测量数据在行人场景下直接估计的速度场。利用罗马萨皮恩扎大学开发的kin-VADASE(位移分析独立引擎的可变方法)，3D速度的估计精度从几毫米/秒到1-2厘米/秒，分别适用于水平和垂直组件，应用于行人场景中的手势重建和方向确定领域。论文中讨论的结果显示了即时，稳定和可靠的速度，证实了Android智能手机在大众市场应用中的关键作用，例如移动健康，增强现实，健身和运动。
{"title":"New Opportunities for Mass-Market Applications of Real-Time Variometric Velocity Estimated Using Android GNSS Raw Measurements","authors":"Marco Fortunato, A. Mazzoni","doi":"10.23919/ENC48637.2020.9317397","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317397","url":null,"abstract":"Few years after the first release of Android GNSS Raw Measurements API, Android smartphones are increasingly becoming the most competitive GNSS mass-market device. The developments in GNSS space and user - mainly related to smartphone manufacturers - segments allowed to show meter and sub-meter accuracy in static and kinematic applications using GNSS observations collected from Android smartphones. Unlike the large number of published researches which deals with the analyses of Android GNSS Raw Measurements and the achievable accuracy in the position domain, the aim of this work is to study the velocity field directly estimated in pedestrian scenarios from Android GNSS measurements. The 3D velocity, estimated with accuracy from few mm/s to 1–2 cm/s - respectively for the horizontal and vertical components - with the kin-VADASE (Variometric Apporach for Displacement Analysis Stand-alone Engine) developed at Sapienza University of Rome, are here applied in the field of gestures reconstruction and heading determination in pedestrian scenarios. The results discussed in the paper show immediate, stable and reliable velocity confirming the key role that Android smartphones are acquiring in mass-market application, e.g. mHealth, AR, fitness and sports.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"272 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131889367","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-11-23DOI: 10.23919/ENC48637.2020.9317522
Aiden Morrison, N. Sokolova, J. Håkegård, T. Bryne, L. Ruotsalainen
This paper reviews the motivation behind and development of a deployable Radio Frequency Interference (RFI) detection, alerting and reporting system which simultaneously monitors all Global Navigation Satellite System (GNSS) L-band signal transmission for disruption, captures interference events, characterizes them, notifies stakeholders of event occurrence and lastly marshals the captured data to cloud storage. Results of a multi-site international deployment program are presented and discussed.
{"title":"A Multi-Site Quad-Band Radio Frequency Interference Monitoring Alerting and Reporting System","authors":"Aiden Morrison, N. Sokolova, J. Håkegård, T. Bryne, L. Ruotsalainen","doi":"10.23919/ENC48637.2020.9317522","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317522","url":null,"abstract":"This paper reviews the motivation behind and development of a deployable Radio Frequency Interference (RFI) detection, alerting and reporting system which simultaneously monitors all Global Navigation Satellite System (GNSS) L-band signal transmission for disruption, captures interference events, characterizes them, notifies stakeholders of event occurrence and lastly marshals the captured data to cloud storage. Results of a multi-site international deployment program are presented and discussed.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134572199","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-11-23DOI: 10.23919/ENC48637.2020.9317478
George Papageorgiou, Katerina Hadjigeorgiou, Alexander N. Ness
The purpose of this paper is to investigate the extent to which people are prepared to use a smartphone navigation application to enhance their walking experience. The proposed smartphone app, which is based on a Smart Pedestrian Network (SPN) system would provide various incentives to promote walkability. In the research presented in this paper we attempt to answer questions such as: Would people walk more if they were rewarded by using the app? Can the proposed app motivate people to walk more by: providing navigation information, tracking peoples' steps, setting daily challenges and goals and giving rewards? To what extent can the proposed app support its users to become healthier and at the same time improve environmental conditions? For this purpose, a survey was conducted in Cyprus involving a representative sample of people. After data collection, statistical analysis was carried out in IBM SPSS software package. The results of the survey showed that apart from navigation information, providing rewards would motivate people to walk more. Specifically, 42% preferred their reward to be monetary while 39% would accept their reward to be donated for charity. Additionally, the majority of respondents would not only use but also recommend the proposed application to others.
{"title":"An Innovative Way to Promote Walking via a Smartphone Pedestrian Navigation Application","authors":"George Papageorgiou, Katerina Hadjigeorgiou, Alexander N. Ness","doi":"10.23919/ENC48637.2020.9317478","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317478","url":null,"abstract":"The purpose of this paper is to investigate the extent to which people are prepared to use a smartphone navigation application to enhance their walking experience. The proposed smartphone app, which is based on a Smart Pedestrian Network (SPN) system would provide various incentives to promote walkability. In the research presented in this paper we attempt to answer questions such as: Would people walk more if they were rewarded by using the app? Can the proposed app motivate people to walk more by: providing navigation information, tracking peoples' steps, setting daily challenges and goals and giving rewards? To what extent can the proposed app support its users to become healthier and at the same time improve environmental conditions? For this purpose, a survey was conducted in Cyprus involving a representative sample of people. After data collection, statistical analysis was carried out in IBM SPSS software package. The results of the survey showed that apart from navigation information, providing rewards would motivate people to walk more. Specifically, 42% preferred their reward to be monetary while 39% would accept their reward to be donated for charity. Additionally, the majority of respondents would not only use but also recommend the proposed application to others.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122930097","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-11-23DOI: 10.23919/ENC48637.2020.9317526
Yan Xiang, Wei Wang, Xin Chen, Wenxian Yun
During high-level solar activity time, frequent ionospheric irregularities lead to large total electron content (TEC) gradient. precise point positioning (PPP) performance can be significantly degraded under the unfavorable ionosphere conditions. We analyze the causes and effects of the ionosphere potential impacts on uncombined PPP (UPPP) performance in terms of the ionospheric stochastic model, blunders, and frequent cycle slips. Results show that a large enough stochastic variance is beneficial for better positioning solutions; blunders detection could improve the accuracy; a proper threshold to detect cycle slips could improve the accuracy significantly. Taking these effects into consideration, we can achieve a centimeter accuracy at each direction under the disturbed ionosphere conditions.
{"title":"PPP Performance with Large TEC Gradient and Mitigation Methods","authors":"Yan Xiang, Wei Wang, Xin Chen, Wenxian Yun","doi":"10.23919/ENC48637.2020.9317526","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317526","url":null,"abstract":"During high-level solar activity time, frequent ionospheric irregularities lead to large total electron content (TEC) gradient. precise point positioning (PPP) performance can be significantly degraded under the unfavorable ionosphere conditions. We analyze the causes and effects of the ionosphere potential impacts on uncombined PPP (UPPP) performance in terms of the ionospheric stochastic model, blunders, and frequent cycle slips. Results show that a large enough stochastic variance is beneficial for better positioning solutions; blunders detection could improve the accuracy; a proper threshold to detect cycle slips could improve the accuracy significantly. Taking these effects into consideration, we can achieve a centimeter accuracy at each direction under the disturbed ionosphere conditions.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"5 14","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120855031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-11-23DOI: 10.23919/ENC48637.2020.9317313
T. Porathe
e-Navigation is a concept launched by the IMO in 2006. The point is to share digital data to the benefit of safety, efficiency and the environment. Every ship must make a voyage plan before leaving berth. Sharing such voyage plans between ships and between ships and shore is called route exchange and such a feature would allow alarms to be triggered both onboard and ashore if a ship deviate from its planned route, or if two ships plan to be at the same place at the same time. To visualise correspondence or lack of correspondence between the planed position and the real position the concept of Moving Havens is suggested. It is a visualisation tool designed to intuitively show if a ship falls out of its safety checked position. In case of route exchange and Ship Traffic Management it will facilitate for land-based operators or automation to distinguish dangerous situations. The concept is presented in this paper. The same method is suggested as a tool to increased awareness and safety in the context of a future mixed environment of Maritime Autonomous Surface Ships (MASS) and traditional manned ships.
{"title":"Ship Traffic Organization with Moving Havens: Ship and Shore Perspective","authors":"T. Porathe","doi":"10.23919/ENC48637.2020.9317313","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317313","url":null,"abstract":"e-Navigation is a concept launched by the IMO in 2006. The point is to share digital data to the benefit of safety, efficiency and the environment. Every ship must make a voyage plan before leaving berth. Sharing such voyage plans between ships and between ships and shore is called route exchange and such a feature would allow alarms to be triggered both onboard and ashore if a ship deviate from its planned route, or if two ships plan to be at the same place at the same time. To visualise correspondence or lack of correspondence between the planed position and the real position the concept of Moving Havens is suggested. It is a visualisation tool designed to intuitively show if a ship falls out of its safety checked position. In case of route exchange and Ship Traffic Management it will facilitate for land-based operators or automation to distinguish dangerous situations. The concept is presented in this paper. The same method is suggested as a tool to increased awareness and safety in the context of a future mixed environment of Maritime Autonomous Surface Ships (MASS) and traditional manned ships.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121917930","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-11-23DOI: 10.23919/ENC48637.2020.9317474
Paul Schwarzbach, O. Michler
High-precision user position estimation is a necessary prerequisite for various safety-critical applications and location based services in navigation. For vehicular applications, low-cost GNSS receivers are often utilized as they provide a reasonable trade-off between affordability and accuracy. Especially in dense urban environments their performance can be heavily degraded by signal shadowing and non-line-of-sight reception. These conditions challenge state-of-the-art GNSS positioning methods, namely Least Squares Estimation (LSE) and Extended Kalman Filtering (EKF). In this paper, we propose a robust non-parametric state estimation method called GNSS Probability Grid Positioning (PGP) utilizing Between-Satellite Differencing. The proposed method is based on incorporating three-dimensional terrain data providing an a-priori state space. The accuracy of PGP is validated in a dynamic scenario using a GNSS software defined radio simulation setup. We compare its performance to common positioning methods and show that PGP outperforms both LSE and EKF positioning under adverse reception conditions.
{"title":"GNSS Probabilistic Single Differencing For Non-Parametric State Estimation Based On Spatial Map Data","authors":"Paul Schwarzbach, O. Michler","doi":"10.23919/ENC48637.2020.9317474","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317474","url":null,"abstract":"High-precision user position estimation is a necessary prerequisite for various safety-critical applications and location based services in navigation. For vehicular applications, low-cost GNSS receivers are often utilized as they provide a reasonable trade-off between affordability and accuracy. Especially in dense urban environments their performance can be heavily degraded by signal shadowing and non-line-of-sight reception. These conditions challenge state-of-the-art GNSS positioning methods, namely Least Squares Estimation (LSE) and Extended Kalman Filtering (EKF). In this paper, we propose a robust non-parametric state estimation method called GNSS Probability Grid Positioning (PGP) utilizing Between-Satellite Differencing. The proposed method is based on incorporating three-dimensional terrain data providing an a-priori state space. The accuracy of PGP is validated in a dynamic scenario using a GNSS software defined radio simulation setup. We compare its performance to common positioning methods and show that PGP outperforms both LSE and EKF positioning under adverse reception conditions.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117205755","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-11-23DOI: 10.23919/ENC48637.2020.9317438
Ankit Jain, S. Schön
Maintaining the navigation performance with respect to a certain standard is of prime importance in civil aviation operations. In global navigation satellite system (GNSS) based position estimates, the height component is less accurate specifically due to the receiver clock bias. Further, the height component is of high relevance in all phases of flight navigation. With the concept of receiver clock modeling (RCM), sometimes called as clock coasting, the accuracy of the height component could be improved by a large extent. In this paper, we present experimental results of code-based flight navigation computed using two different methods. GNSS observations are recorded on an aerial flight for about three hours with multiple GNSS receivers and an inertial measurement unit (IMU), some of these receivers are connected with external atomic clocks. Data captured is processed post-flight; position and clock bias are estimated at first using multi-GNSS code observations with a Linearized Kalman filter (LKF) without applying the concept of RCM; later using LKF approach and applying the concept of RCM. Finally, the estimated positions are compared with the reference trajectory and the topocentric coordinate differences are evaluated using both methods. Experimental results demonstrate that the precision in the height component is improved by about 80% using GPS and GLONASS observations with RCM applied compared to a positioning solution without applying RCM. There is no significant difference in the horizontal coordinates for the navigation solutions computed using the two different methods.
{"title":"Comparison and Evaluation of Clock-aided and Classical Multi-GNSS Flight Navigation","authors":"Ankit Jain, S. Schön","doi":"10.23919/ENC48637.2020.9317438","DOIUrl":"https://doi.org/10.23919/ENC48637.2020.9317438","url":null,"abstract":"Maintaining the navigation performance with respect to a certain standard is of prime importance in civil aviation operations. In global navigation satellite system (GNSS) based position estimates, the height component is less accurate specifically due to the receiver clock bias. Further, the height component is of high relevance in all phases of flight navigation. With the concept of receiver clock modeling (RCM), sometimes called as clock coasting, the accuracy of the height component could be improved by a large extent. In this paper, we present experimental results of code-based flight navigation computed using two different methods. GNSS observations are recorded on an aerial flight for about three hours with multiple GNSS receivers and an inertial measurement unit (IMU), some of these receivers are connected with external atomic clocks. Data captured is processed post-flight; position and clock bias are estimated at first using multi-GNSS code observations with a Linearized Kalman filter (LKF) without applying the concept of RCM; later using LKF approach and applying the concept of RCM. Finally, the estimated positions are compared with the reference trajectory and the topocentric coordinate differences are evaluated using both methods. Experimental results demonstrate that the precision in the height component is improved by about 80% using GPS and GLONASS observations with RCM applied compared to a positioning solution without applying RCM. There is no significant difference in the horizontal coordinates for the navigation solutions computed using the two different methods.","PeriodicalId":157951,"journal":{"name":"2020 European Navigation Conference (ENC)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115240328","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：