Pub Date : 2017-05-19DOI: 10.1109/CPGPS.2017.8075153
Qiyi He, Xiaolin Meng, Rong Qu
With the ever fast developments of technologies in science and engineering, it is believed that CAV (connected and autonomous vehicles) will come into our daily life soon. CAV could be used in many different aspects in our lives such as public transportation and agriculture, and so on. Although CAV will bring huge benefits to our lives and society, issues such as cyber security threats, which may reveal drivers' private information or even pose threat to driver's life, present significant challenges before CAV can be utilised in our society. In computer science, there is a clear category of cyber security attacks while there is no specific survey on cyber security of CAV. This paper overviews different passive and active cyber security attacks which may be faced by CAV. We also present solutions of each of these attacks based on the current state-of-the-art, and discuss future improvements in research on CAV cyber security.
{"title":"Survey on cyber security of CAV","authors":"Qiyi He, Xiaolin Meng, Rong Qu","doi":"10.1109/CPGPS.2017.8075153","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075153","url":null,"abstract":"With the ever fast developments of technologies in science and engineering, it is believed that CAV (connected and autonomous vehicles) will come into our daily life soon. CAV could be used in many different aspects in our lives such as public transportation and agriculture, and so on. Although CAV will bring huge benefits to our lives and society, issues such as cyber security threats, which may reveal drivers' private information or even pose threat to driver's life, present significant challenges before CAV can be utilised in our society. In computer science, there is a clear category of cyber security attacks while there is no specific survey on cyber security of CAV. This paper overviews different passive and active cyber security attacks which may be faced by CAV. We also present solutions of each of these attacks based on the current state-of-the-art, and discuss future improvements in research on CAV cyber security.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126406103","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 : 2017-05-19DOI: 10.1109/CPGPS.2017.8075105
Lin Yunsong, Peng Liangfu
This paper presents a self-calibration method for estimating receiver position errors using TDOA measurements for targets with unknown positions. The method uses two LS minimization steps to estimate the related receiver position errors. The method estimates the initial TDOA LS for the unknown target position with the measured receiver positions. A second weighted LS using the total differential of the TDOA equations estimates the related receiver position error. Therefore, the estimated receiver position error can be used to modify the measurement of the receiver positions. Computer simulations demonstrate the statistical performance of this method, and the results of Table IV show that the related receiver position errors estimated meet the multilateration (MLAT) requirements.
{"title":"A position self-calibration method in multilateration","authors":"Lin Yunsong, Peng Liangfu","doi":"10.1109/CPGPS.2017.8075105","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075105","url":null,"abstract":"This paper presents a self-calibration method for estimating receiver position errors using TDOA measurements for targets with unknown positions. The method uses two LS minimization steps to estimate the related receiver position errors. The method estimates the initial TDOA LS for the unknown target position with the measured receiver positions. A second weighted LS using the total differential of the TDOA equations estimates the related receiver position error. Therefore, the estimated receiver position error can be used to modify the measurement of the receiver positions. Computer simulations demonstrate the statistical performance of this method, and the results of Table IV show that the related receiver position errors estimated meet the multilateration (MLAT) requirements.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129163409","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 : 2017-05-19DOI: 10.1109/CPGPS.2017.8075109
Z. Hongyu, H. Li, Li Jing
For the problem of missed detection and false detection of receiver autonomous integrity monitoring(RAIM) in global navigation satellite system (GNSS), the principle of least squares residuals RAIM algorithm is introduced, the reasons of missed detection and false detection are analyzed based on the geometry structure of user and satellites, and an optimal weighted least squares RAIM algorithm is proposed to rationalize the relationship between the test statistic and positioning errors and enhance the effect of fault detection in this article. The experimental results based on GPS/BDS multi-constellation show that the novel optimized algorithm can reduce the probability of false detection effectively in meeting the requirement of the probability of missed detection and improve the performance in fault detection and achieve the LPV-200 performance indicators effectually.
{"title":"An optimal weighted least squares RAIM algorithm","authors":"Z. Hongyu, H. Li, Li Jing","doi":"10.1109/CPGPS.2017.8075109","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075109","url":null,"abstract":"For the problem of missed detection and false detection of receiver autonomous integrity monitoring(RAIM) in global navigation satellite system (GNSS), the principle of least squares residuals RAIM algorithm is introduced, the reasons of missed detection and false detection are analyzed based on the geometry structure of user and satellites, and an optimal weighted least squares RAIM algorithm is proposed to rationalize the relationship between the test statistic and positioning errors and enhance the effect of fault detection in this article. The experimental results based on GPS/BDS multi-constellation show that the novel optimized algorithm can reduce the probability of false detection effectively in meeting the requirement of the probability of missed detection and improve the performance in fault detection and achieve the LPV-200 performance indicators effectually.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124336075","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 : 2017-05-19DOI: 10.1109/CPGPS.2017.8075094
R. Gao, Tianhe Xu, Qingsong Ai
In this paper, the principle and algorithm of acoustic velocity calculation, sound velocity error correction and underwater acoustic positioning are presented. The acoustic velocity of sea water is calculated by the indirect methods, that is, the velocity of sound is calculated according to the depth, temperature and salinity. Acoustic velocity empirical models including Dell Grosso, Leroy, Mackenzie and other 6 models are introduced and compared. In this paper, we calculate the sound speed and make a numerical analysis based on the real-time observation data of China Argo buoy. A weighted average method for sound velocity error correction is used. An error calculation model for simulation data is proposed based on the principle of the sound velocity error amplification with the increase of propagation distance. The theory and algorithm of underwater positioning are introduced. The feasibility and stability of the under positioning software are verified by simulating data. The results showed that using the weighted average velocity correction, the sound velocity positioning accuracy can reach sub-decimeter level in x direction and decimeter level in the y and z directions.
{"title":"Research on underwater sound velocity calculation, error correction and positioning algorithms","authors":"R. Gao, Tianhe Xu, Qingsong Ai","doi":"10.1109/CPGPS.2017.8075094","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075094","url":null,"abstract":"In this paper, the principle and algorithm of acoustic velocity calculation, sound velocity error correction and underwater acoustic positioning are presented. The acoustic velocity of sea water is calculated by the indirect methods, that is, the velocity of sound is calculated according to the depth, temperature and salinity. Acoustic velocity empirical models including Dell Grosso, Leroy, Mackenzie and other 6 models are introduced and compared. In this paper, we calculate the sound speed and make a numerical analysis based on the real-time observation data of China Argo buoy. A weighted average method for sound velocity error correction is used. An error calculation model for simulation data is proposed based on the principle of the sound velocity error amplification with the increase of propagation distance. The theory and algorithm of underwater positioning are introduced. The feasibility and stability of the under positioning software are verified by simulating data. The results showed that using the weighted average velocity correction, the sound velocity positioning accuracy can reach sub-decimeter level in x direction and decimeter level in the y and z directions.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117288142","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 : 2017-05-01DOI: 10.1109/CPGPS.2017.8075098
Lingxiao Zheng, X. Zhan, Xin Zhang
This paper addresses the problem of plug and play measurement fusion for integrated navigation system using nonlinear optimization method. We refer to multi-sensor fusion estimation as a sequential, weighted least squares problem. Using fluid re-linearization and partial state updates strategies to reduce computational burden, we propose a low cost nonlinear optimization algorithm. This algorithm not only processes multirate and asynchronous sensor data, but also provides a natural way to incorporate a new sensor or an ad hoc signal into the system. The proposed multi-sensor fusion estimation algorithm has been successfully implemented in integrated navigation with inertial measurement unit, global position system and star sensor.
{"title":"Plug-and-play measurement fusion method for integrated navigation system using low-cost nonlinear optimization","authors":"Lingxiao Zheng, X. Zhan, Xin Zhang","doi":"10.1109/CPGPS.2017.8075098","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075098","url":null,"abstract":"This paper addresses the problem of plug and play measurement fusion for integrated navigation system using nonlinear optimization method. We refer to multi-sensor fusion estimation as a sequential, weighted least squares problem. Using fluid re-linearization and partial state updates strategies to reduce computational burden, we propose a low cost nonlinear optimization algorithm. This algorithm not only processes multirate and asynchronous sensor data, but also provides a natural way to incorporate a new sensor or an ad hoc signal into the system. The proposed multi-sensor fusion estimation algorithm has been successfully implemented in integrated navigation with inertial measurement unit, global position system and star sensor.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115918246","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 : 2017-05-01DOI: 10.1109/CPGPS.2017.8075147
Wang Duo, Pan Xianfei, Huang Xiaoping, He Xiaofeng
A pedestrian positioning method aided by magnetic heading is proposed so as to investigate a pedestrian autonomous navigation and positioning method. This method mainly employs the information from an accelerator, gyroscope and Zero Velocity Update (ZUPT) based on gait detection. Besides, geomagnetic information is used to estimate the initial heading and to calibrate the headings during the walk. The result shows that the accuracy of estimated position is effectively improved by fusing the inertial and geomagnetic information. Additionally, this paper presents the cause of magnetic heading error and its solution. By rectangular path test and the figure “8” shape path test, the proposed algorithm is proved to be valid compared with traditional pedestrian positioning method. This method owns a wide engineering application value.
{"title":"Foot-mounted INS and selected geomagnetic information constraint for individual localization","authors":"Wang Duo, Pan Xianfei, Huang Xiaoping, He Xiaofeng","doi":"10.1109/CPGPS.2017.8075147","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075147","url":null,"abstract":"A pedestrian positioning method aided by magnetic heading is proposed so as to investigate a pedestrian autonomous navigation and positioning method. This method mainly employs the information from an accelerator, gyroscope and Zero Velocity Update (ZUPT) based on gait detection. Besides, geomagnetic information is used to estimate the initial heading and to calibrate the headings during the walk. The result shows that the accuracy of estimated position is effectively improved by fusing the inertial and geomagnetic information. Additionally, this paper presents the cause of magnetic heading error and its solution. By rectangular path test and the figure “8” shape path test, the proposed algorithm is proved to be valid compared with traditional pedestrian positioning method. This method owns a wide engineering application value.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"388 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133581729","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 : 2017-05-01DOI: 10.1109/CPGPS.2017.8075117
Shiwei Wang, Shuzhu Shi, B. Ni
A Global Navigation Satellite System Reflectometry (GNSS-R) software receiver and its preliminary experimental results are presented in this paper. The antenna system, the radio frequency analog front-end, and the digital signal processing unit of this receiver are described in detail. With this software receiver, various algorithms and theoretical models can be verified for different remote sensing applications. Furthermore, preliminary experiments have been conducted to evaluate the performance of this receiver. The experimental results demonstrate that the Global Position System (GPS) satellites can be correctly acquired and tracked with this receiver, and that the calculated location parameters of the receiver, when four GPS satellites are tracked, are consistent with those provided by the Google map. In addition, when this receiver is used for the soil moisture retrieval, a measure error of about 5.79% can be achieved when compared with the measure results given by the soil moisture meter.
{"title":"GNSS-R software receiver and its preliminary experimental results","authors":"Shiwei Wang, Shuzhu Shi, B. Ni","doi":"10.1109/CPGPS.2017.8075117","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075117","url":null,"abstract":"A Global Navigation Satellite System Reflectometry (GNSS-R) software receiver and its preliminary experimental results are presented in this paper. The antenna system, the radio frequency analog front-end, and the digital signal processing unit of this receiver are described in detail. With this software receiver, various algorithms and theoretical models can be verified for different remote sensing applications. Furthermore, preliminary experiments have been conducted to evaluate the performance of this receiver. The experimental results demonstrate that the Global Position System (GPS) satellites can be correctly acquired and tracked with this receiver, and that the calculated location parameters of the receiver, when four GPS satellites are tracked, are consistent with those provided by the Google map. In addition, when this receiver is used for the soil moisture retrieval, a measure error of about 5.79% can be achieved when compared with the measure results given by the soil moisture meter.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116336760","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 : 2017-05-01DOI: 10.1109/CPGPS.2017.8075104
Yuguo Yang, Tianhe Xu, L. Ren
Tropospheric delay is an important error source in the Global Navigation Satellite System (GNSS) positioning, navigation and timing. The global empirical models are unable to provide sufficient accuracy for the precise positioning with the increasing demand of precision. In this paper, we utilize the UNB3m model to determine accurate temperature, pressure and relative humidity which can be used to calculate zenith total delay of local area, and use GA-BP model to correct the residual errors by taking the estimated tropospheric delay from BERNESE 5.2 as a reference, then develop a new regional tropospheric delay model of “UNB3m+GA-BP” based on BP neural network. The numerical example by using Hong Kong GNSS data shows that the UNB3m+GA-BP model has improved the accuracy obviously compared to the UNB3m and GTP2 model. The accuracy of the proposed model is about 1.1 cm without systematic error. UNB3m+GA-BP model can better describe the spatial variation of regional troposphere and is suitable for real-time regional tropospheric delay correction.
{"title":"A new regional tropospheric delay correction model based on BP neural network","authors":"Yuguo Yang, Tianhe Xu, L. Ren","doi":"10.1109/CPGPS.2017.8075104","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075104","url":null,"abstract":"Tropospheric delay is an important error source in the Global Navigation Satellite System (GNSS) positioning, navigation and timing. The global empirical models are unable to provide sufficient accuracy for the precise positioning with the increasing demand of precision. In this paper, we utilize the UNB3m model to determine accurate temperature, pressure and relative humidity which can be used to calculate zenith total delay of local area, and use GA-BP model to correct the residual errors by taking the estimated tropospheric delay from BERNESE 5.2 as a reference, then develop a new regional tropospheric delay model of “UNB3m+GA-BP” based on BP neural network. The numerical example by using Hong Kong GNSS data shows that the UNB3m+GA-BP model has improved the accuracy obviously compared to the UNB3m and GTP2 model. The accuracy of the proposed model is about 1.1 cm without systematic error. UNB3m+GA-BP model can better describe the spatial variation of regional troposphere and is suitable for real-time regional tropospheric delay correction.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129568088","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 : 2017-05-01DOI: 10.1109/CPGPS.2017.8075096
Pengfei Zhang, R. Tu, Yuping Gao, Na Liu, Cheng-shi Zhao
Precise timing by the technique of GNSS common view is proven to be an effective technique with the accuracy of nanosecond level in real-time mode. The timing technique of carrier phase is also applied in post mode with the accuracy of sub-nanosecond level, but the real-time mode still has little explicit research. In this study, we develop the precise timing algorithm of carrier phase to investigate timing performance o in real-time mode. The four stations from the International GNSS Service (IGS) data network are processed, which are equipped high performance external time frequency. And then three kinds of satellite orbit and clock products with its corresponding accuracy and latency are applied into the timing algorithm for investigate the timing accuracy with different time latency. The RMS is achieved with 0.35ns level by the IGS rapid satellite orbit and clock product, and then the prediction of the IGS ultra rapid product is about 0.52ns.
{"title":"Real-time precise timing using GNSS carrier phase observation from single receiver","authors":"Pengfei Zhang, R. Tu, Yuping Gao, Na Liu, Cheng-shi Zhao","doi":"10.1109/CPGPS.2017.8075096","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075096","url":null,"abstract":"Precise timing by the technique of GNSS common view is proven to be an effective technique with the accuracy of nanosecond level in real-time mode. The timing technique of carrier phase is also applied in post mode with the accuracy of sub-nanosecond level, but the real-time mode still has little explicit research. In this study, we develop the precise timing algorithm of carrier phase to investigate timing performance o in real-time mode. The four stations from the International GNSS Service (IGS) data network are processed, which are equipped high performance external time frequency. And then three kinds of satellite orbit and clock products with its corresponding accuracy and latency are applied into the timing algorithm for investigate the timing accuracy with different time latency. The RMS is achieved with 0.35ns level by the IGS rapid satellite orbit and clock product, and then the prediction of the IGS ultra rapid product is about 0.52ns.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127193411","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 : 2017-05-01DOI: 10.1109/CPGPS.2017.8075091
Wei Gao, Jingchun Li, Ya Zhang, Guochen Wang, Xuran Sun
The Kalman filter (KF) is the most common method for the estimation problems of the integrated SINS/GNSS system, but its performance depends on the correct a priori knowledge of model dynamics and noise statistics. The GNSS measurement noise uncertainties will degrade the performance of the KF for the fixed measurement noise covariance matrix. To fulfill the accuracy requirements of the dynamic system, an improved innovation-based adaptive estimation (IAE) algorithm is proposed. Based on the IAE principle, a regulatory factor is introduced into the calculation of the gain matrix to solve the singular value problem during the matrix inverse operation, and cut down the estimation errors caused by measurement noise uncertainties. The performance of the proposed algorithm is evaluated by the Monte-Carlo simulations in the SINS/GNSS integration system and significant improvements on the filter performance have been achieved.
{"title":"Improved innovation-based adaptive estimation for measurement noise uncertainty in SINS/GNSS integration system","authors":"Wei Gao, Jingchun Li, Ya Zhang, Guochen Wang, Xuran Sun","doi":"10.1109/CPGPS.2017.8075091","DOIUrl":"https://doi.org/10.1109/CPGPS.2017.8075091","url":null,"abstract":"The Kalman filter (KF) is the most common method for the estimation problems of the integrated SINS/GNSS system, but its performance depends on the correct a priori knowledge of model dynamics and noise statistics. The GNSS measurement noise uncertainties will degrade the performance of the KF for the fixed measurement noise covariance matrix. To fulfill the accuracy requirements of the dynamic system, an improved innovation-based adaptive estimation (IAE) algorithm is proposed. Based on the IAE principle, a regulatory factor is introduced into the calculation of the gain matrix to solve the singular value problem during the matrix inverse operation, and cut down the estimation errors caused by measurement noise uncertainties. The performance of the proposed algorithm is evaluated by the Monte-Carlo simulations in the SINS/GNSS integration system and significant improvements on the filter performance have been achieved.","PeriodicalId":340067,"journal":{"name":"2017 Forum on Cooperative Positioning and Service (CPGPS）","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130003619","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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