Su Yan, Shaolin Lü, Gang Liu, Yiding Zhan, Jianan Lou, Rong Zhang
{"title":"Real-time Kinematic Positioning Algorithm in Graphical State Space","authors":"Su Yan, Shaolin Lü, Gang Liu, Yiding Zhan, Jianan Lou, Rong Zhang","doi":"10.33012/2023.18676","DOIUrl":"https://doi.org/10.33012/2023.18676","url":null,"abstract":"","PeriodicalId":261056,"journal":{"name":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129448706","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}
{"title":"Measurements-Assisted ARAIM Based on Sparse Estimation of Pseudorange Deviations","authors":"Hangtian Qi, X. Cui, Mingquan Lu","doi":"10.33012/2023.18613","DOIUrl":"https://doi.org/10.33012/2023.18613","url":null,"abstract":"","PeriodicalId":261056,"journal":{"name":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128376230","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}
{"title":"GPU Computing of GNSS Chipshape","authors":"Tyler Bransfield, S. Gunawardena","doi":"10.33012/2023.18629","DOIUrl":"https://doi.org/10.33012/2023.18629","url":null,"abstract":"","PeriodicalId":261056,"journal":{"name":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","volume":"111 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117182805","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}
. ABSTRACT In the L1 Satellite Based Augmentation System (SBAS) Minimum Operational Performance Standard (MOPS) the correlation of the tropospheric model correction error is treated as though it is uncorrelated from one satellite to another when computing the position error bound. This simplification has recently been called into question in Gallon et al. (2021). This paper examines the effect of neglecting this cross-satellite correlation on the protection level computation. We have found the lack of correlation terms to be conservative when generating the Horizontal Protection Level (HPL). However, there are cases where the Vertical Protection Level may be underestimated by neglecting this effect. For current operations where the Vertical Alert Limit (VAL) is 35 m and above, the effect is limited to about 2% of the MOPS VPL value. For smaller VALs, the effect can be much more significant, particularly is VALs below 10 m are considered. We recommend including the correlation term in bounding the tropospheric correction errors for the upcoming dual frequency SBAS MOPS. We examine 10 years of tropospheric delay data collected and processed from hundreds of International GNSS Service (IGS) stations. 3 tropospheric models are used to analyze the residuals between IGS data and model predictions – University of New Brunswick 3 (UNB3), Global Pressure and Temperature 2 Wet (GPT2W) and Global Pressure and Temperature 3 (GPT3). Residuals are analyzed in terms of their probabilistic distribution in each IGS station. Stations are grouped and categorized by years and locations. It is found that residual distributions are most strongly dependent on latitude. In some infrequent cases where the IGS data appear to be anomalous and far from the model values, JPL data and actual weather record are used to evaluate and validate or reject the anomaly data. Finally, Gaussian pair-bounds are established in every station. An overall residual distribution is provided to account for the correction error caused by using the model. Finally, alternate forms for the SBAS VPL are provided to fully account for the cross satellite tropospheric model errors.
{"title":"Troposphere Delay Model Error Analysis With Application to Vertical Protection Level Calculation","authors":"Yuqing Lai, J. Blanch, Todd Walter","doi":"10.33012/2023.18615","DOIUrl":"https://doi.org/10.33012/2023.18615","url":null,"abstract":". ABSTRACT In the L1 Satellite Based Augmentation System (SBAS) Minimum Operational Performance Standard (MOPS) the correlation of the tropospheric model correction error is treated as though it is uncorrelated from one satellite to another when computing the position error bound. This simplification has recently been called into question in Gallon et al. (2021). This paper examines the effect of neglecting this cross-satellite correlation on the protection level computation. We have found the lack of correlation terms to be conservative when generating the Horizontal Protection Level (HPL). However, there are cases where the Vertical Protection Level may be underestimated by neglecting this effect. For current operations where the Vertical Alert Limit (VAL) is 35 m and above, the effect is limited to about 2% of the MOPS VPL value. For smaller VALs, the effect can be much more significant, particularly is VALs below 10 m are considered. We recommend including the correlation term in bounding the tropospheric correction errors for the upcoming dual frequency SBAS MOPS. We examine 10 years of tropospheric delay data collected and processed from hundreds of International GNSS Service (IGS) stations. 3 tropospheric models are used to analyze the residuals between IGS data and model predictions – University of New Brunswick 3 (UNB3), Global Pressure and Temperature 2 Wet (GPT2W) and Global Pressure and Temperature 3 (GPT3). Residuals are analyzed in terms of their probabilistic distribution in each IGS station. Stations are grouped and categorized by years and locations. It is found that residual distributions are most strongly dependent on latitude. In some infrequent cases where the IGS data appear to be anomalous and far from the model values, JPL data and actual weather record are used to evaluate and validate or reject the anomaly data. Finally, Gaussian pair-bounds are established in every station. An overall residual distribution is provided to account for the correction error caused by using the model. Finally, alternate forms for the SBAS VPL are provided to fully account for the cross satellite tropospheric model errors.","PeriodicalId":261056,"journal":{"name":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123477837","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}
Toni Fetzer, Markus Bullmann, Markus Ebner, Steffen Kastner, F. Deinzer, M. Grzegorzek
{"title":"Interacting Multiple Model Particle Filter for Indoor Positioning Applications","authors":"Toni Fetzer, Markus Bullmann, Markus Ebner, Steffen Kastner, F. Deinzer, M. Grzegorzek","doi":"10.33012/2023.18639","DOIUrl":"https://doi.org/10.33012/2023.18639","url":null,"abstract":"","PeriodicalId":261056,"journal":{"name":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121478153","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}
{"title":"Positioning Capability Characterization of 5G NR for GNSS Auxiliary Navigation","authors":"Lili Cao, Yuan Sun, Z. Deng","doi":"10.33012/2023.18594","DOIUrl":"https://doi.org/10.33012/2023.18594","url":null,"abstract":"","PeriodicalId":261056,"journal":{"name":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131850599","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}
{"title":"Impacts of High Rate GNSS Satellite Clock Estimation on Radio Occultation Bending Angle Retrievals: Preliminary Report","authors":"Jian Yao, J. Weiss, T. Vanhove","doi":"10.33012/2023.18621","DOIUrl":"https://doi.org/10.33012/2023.18621","url":null,"abstract":"","PeriodicalId":261056,"journal":{"name":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134239738","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}
{"title":"Apparatus, Systems, and Methods for Determining a Geo-Location","authors":"Qirfiraz Siddiqui","doi":"10.33012/2023.18677","DOIUrl":"https://doi.org/10.33012/2023.18677","url":null,"abstract":"","PeriodicalId":261056,"journal":{"name":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130494475","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}
{"title":"Characterizing Perspective Error in Voxel-Based LIDAR Scan Matching","authors":"J. Rife, Matthew McDermott","doi":"10.33012/2023.18670","DOIUrl":"https://doi.org/10.33012/2023.18670","url":null,"abstract":"","PeriodicalId":261056,"journal":{"name":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124975538","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}
Receiver autonomous integrity monitoring (RAIM) has long relied on GPS to achieve lateral navigation by different aerospace and aviation systems. However, an advanced form of RAIM, called ARAIM, would achieve the additional function of vertical navigation. However, because vertical operations require tighter integrity capabilities than what is currently achievable by RAIM, more stringent evaluations of GNSS performance has become a greater focus, especially as new satellite service constellations such as Galileo become more operationally mature. There are two categories of satellite faults that ARAIM requires knowledge of: satellite fault, which affects each satellite independently, and constellation fault, which affects multiple satellites simultaneously due to a common cause. By analyzing GNSS performance, estimates for the likelihood of each type of fault can be obtained and its impact on ARAIM performance can be assessed. Different fault likelihoods result in different safety comparisons, thus, it is important to evaluate the fault types and their probabilities of occurrence. This paper examines the last 3 years of Galileo clock and ephemeris errors to obtain appropriate estimates for the probability of independent satellite failures, P sat , and the probability of simultaneous satellite failures, P const . This paper also examines the two most recent GPS faults in 2022 and 2023 and near-faults from 2017 to 2021 given that there have been no GPS faults between 2012 and early 2022, but still some anomalous events worthy of analysis.
{"title":"Characterization and Comparison of Galileo and GPS Anomalies","authors":"Rebecca Wang, Todd Walter","doi":"10.33012/2023.18679","DOIUrl":"https://doi.org/10.33012/2023.18679","url":null,"abstract":"Receiver autonomous integrity monitoring (RAIM) has long relied on GPS to achieve lateral navigation by different aerospace and aviation systems. However, an advanced form of RAIM, called ARAIM, would achieve the additional function of vertical navigation. However, because vertical operations require tighter integrity capabilities than what is currently achievable by RAIM, more stringent evaluations of GNSS performance has become a greater focus, especially as new satellite service constellations such as Galileo become more operationally mature. There are two categories of satellite faults that ARAIM requires knowledge of: satellite fault, which affects each satellite independently, and constellation fault, which affects multiple satellites simultaneously due to a common cause. By analyzing GNSS performance, estimates for the likelihood of each type of fault can be obtained and its impact on ARAIM performance can be assessed. Different fault likelihoods result in different safety comparisons, thus, it is important to evaluate the fault types and their probabilities of occurrence. This paper examines the last 3 years of Galileo clock and ephemeris errors to obtain appropriate estimates for the probability of independent satellite failures, P sat , and the probability of simultaneous satellite failures, P const . This paper also examines the two most recent GPS faults in 2022 and 2023 and near-faults from 2017 to 2021 given that there have been no GPS faults between 2012 and early 2022, but still some anomalous events worthy of analysis.","PeriodicalId":261056,"journal":{"name":"Proceedings of the 2023 International Technical Meeting of The Institute of Navigation","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125375515","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}
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