A closed-loop EKF and multi-failure diagnosis approach for cooperative GNSS positioning     

Haiying Liu  Xiaolin Meng  Zhiming Chen  Scott Stephenson  Pekka Peltola 《GPS Solutions》2016,20(4):795-805

Current cooperative positioning with global navigation satellite system (GNSS) for connected vehicle application mainly uses pseudorange measurements. However, the positioning accuracy offered cannot meet the requirements for lane-level positioning, collision avoidance and future automatic driving, which needs real-time positioning accuracy of better than 0.5 m. Furthermore, there is an apparent lack of research into the integrity issue for these new applications under emerging driverless vehicle applications. In order to overcome those problems, a new extended Kalman filter (EKF) and a multi-failure diagnosis algorithm are developed to process both GNSS pseudorange and carrier phase measurements. We first introduce a new closed-loop EKF with partial ambiguity resolution as feedback to address the low accuracy issue. Then a multi-failure diagnosis algorithm is proposed to improve integrity and reliability. The core of this new algorithm includes using Carrier phase-based Receiver Autonomous Integrity Monitoring method for failure detection, and the double extended w test detectors to identify failure. A cooperative positioning experiment was carried out to validate the proposed method. The results show that the proposed closed-loop EKF can provide highly accurate positioning, and the multi-failure diagnosis method is effective in detecting and identifying failures for both code and carrier phase measurements.  相似文献   

Modified compressive sensing approach for GNSS signal reception in the presence of interference     

Chung-Liang Chang 《GPS Solutions》2016,20(2):201-213

Pre-processing traditional navigation signals in global navigation satellite system (GNSS) receivers includes the conversion of an analog-to-digital sample and acquisition following the basic principle of Nyquist sampling theory. This condition inevitably increases the system computation time and cost of a modern wideband receiver. In recent years, the compressive sensing (CS) approach has been proven to effectively reduce the number of measurement samples required for digital signal acquisition systems. This method gives new potential to this modern design. In this study, a modified compressive sensing algorithm for the acquisition of a GNSS signal that is contaminated by an interfering signal is presented. The proposed method attempts to combine CS demodulation and the subspace projecting method to enhance GNSS signal acquisition performance with interference present. First, the received signal is sub-sampled and aliased from a compressive sampling process. This operation maintains the restricted isometry property (RIP) condition of the second sampling process using a Toeplitz-structured sensing matrix, which replaces a conventional random sensing matrix. The matrix ensures that distances between desired signals on the set of sparse space are not influenced by the sampling process. Next, the interference is eliminated through the orthogonal feature between the interference signal and the desired signal using the subspace projecting method. This also preserves the RIP of the projecting matrix to ensure that the original structure of the linear projection of the signal is preserved. After this, an iterative least-square method is utilized to recover the correlator output from the reception samples taken by the CS demodulator. In addition, the signal detection performance in the presence of co-channel interference using a CS demodulator is analyzed and evaluated. Finally, the relationships between signal detection probability, compressive factor and signal bandwidth are also illustrated. Several numerical results are presented to verify the theory.  相似文献   

Weak GPS signal tracking using FFT discriminator in open loop receiver     

Kunlun Yan  Nesreen I. Ziedan  Hongping Zhang  Wenfei Guo  Xiaoji Niu  Jingnan Liu 《GPS Solutions》2016,20(2):225-237

An open loop tracking architecture, which tracks GPS signals under weak and challenging conditions, is analyzed. The in-phase and quadrature-phase integration pair is regarded as a single tone complex signal. An FFT-based method is used as a frequency discriminator to estimate the Doppler frequency residual of the single tone signal. Another FFT-based method applies complex squaring to eliminate the effect of the navigation data bits polarities. The performance of the FFT-based discriminators is assessed in three criteria. Those criteria are the signal strength and dynamic range that can be tracked and the accuracy of the estimated Doppler frequency. In addition, the performance of the discriminators is analyzed to provide the theoretical and simulated peak detection probability. The results indicate that the FFT discriminator can track signals about 5 dB weaker than the signals that can be tracked by the complex squared FFT discriminator. In a quasi-static environment, the Doppler frequency residual can be assumed to be around zero, which can enable the FFT-based discriminators to track signals with approximately 2 dB less power. Moreover, the performance of the FFT-based discriminators is compared with the performance of two other frequency discriminators, namely the fast–slow and power-based. The comparison results indicate that these two frequency discriminators give higher frequency estimation accuracy, but they have a narrower dynamic range.  相似文献   

Precise orbit determination of BeiDou constellation: method comparison   总被引：3，自引：1，他引：2  

Yidong Lou  Yang Liu  Chuang Shi  Bin Wang  Xiuguang Yao  Fu Zheng 《GPS Solutions》2016,20(2):259-268

Chinese BeiDou navigation satellite system is in official service as a regional constellation with five geostationary earth orbit (GEO) satellites, five inclined geosynchronous satellite orbit (IGSO) satellites and four medium earth orbit (MEO) satellites. There are mainly two methods for precise orbit determination of the BeiDou constellation found in the current literatures. One is the independent single-system method, where only BeiDou observations are used without help from other GNSS systems. The other is the two-step GPS-assisted method where in the first step, GPS data are used to resolve some common parameters, such as station coordinates, receiver clocks and zenith tropospheric delay parameters, which are then introduced as known quantities in BeiDou processing in the second step. We conduct a thorough performance comparison between the two methods. Observations from the BeiDou experimental tracking stations and the IGS Multi-GNSS Experiment network from January 1 to March 31, 2013, are processed with the Positioning and Navigation Data Analyst (PANDA) software. The results show that for BeiDou IGSO and MEO satellites, the two-step GPS-assisted method outperforms the independent single-system method in both internal orbit overlap precision and external satellite laser ranging validation. For BeiDou GEO satellites, the two methods show close performances. Zenith tropospheric delays estimated from the first method are very close to those estimated from GPS precise point positioning in the second method, with differences of several millimeters. Satellite clock estimates from the two methods show similar performances when assessing the stability of the BeiDou on board clocks.  相似文献   

Is the long-term variation of the estimated GPS differential code biases associated with ionospheric variability?   总被引：1，自引：0，他引：1  

Jiahao Zhong  Jiuhou Lei  Xiankang Dou  Xinan Yue 《GPS Solutions》2016,20(3):313-319

The global positioning system (GPS) differential code biases (DCB) provided by the International GNSS Service (IGS) show solar-cycle-like variation during 2002–2013. This study is to examine whether this variation of the GPS DCBs is associated with ionospheric variability. The GPS observations from low earth orbit (LEO) satellites including CHAMP, GRACE and Jason-1 are used to address this issue. The GPS DCBs estimated from the LEO-based observations at different orbit altitudes show a similar tendency as the IGS DCBs. However, this solar-cycle-like dependency is eliminated when the DCBs of 13 continuously operating GPS satellites are constrained to zero-mean. Our results thus revealed that ionospheric variation is not responsible for the long-term variation of the GPS DCBs. Instead, it is attributed to the GPS satellite replacement with different satellite types and the zero-mean condition imposed on all satellite DCBs.  相似文献   

Analysis of anomalies in ADS-B and its GPS data     

Busyairah Syd Ali  Wolfgang Schuster  Washington Ochieng  Arnab Majumdar 《GPS Solutions》2016,20(3):429-438

Traditionally, the surveillance component of the air traffic management system has been based on radar, which consists of two separate systems: primary radar and secondary radar, which both enable the measurement of the aircraft range and bearing to the radar station. Primary radar is based on signals emitted by a ground station simply being reflected off an object and detected by a ground-based receiver. Secondary radar also emits signals, but relies upon a transponder onboard the aircraft to emit a signal itself, modulated among others by a four-digit aircraft identity (Mode A), aircraft altitude (Mode C) and/or 24-bit unique address (Mode S). Typical accuracies of secondary radar are of the order of 0.03 NM in range and 0.07° in azimuth. However, no position integrity report is provided. Air traffic density is expected to significantly increase in the future. In order to maintain or enhance air travel efficiency, while maintaining safety, more accurate surveillance systems, with the required integrity, will be required. Automatic dependent surveillance–broadcast (ADS-B) is a new aviation surveillance system, envisioned to overcome the limitations of radar and to enhance surveillance performance and thereby increase airspace capacity. However, its high dependence on external systems such as onboard navigation and communication systems also increases the number of potential points of failure. It is important to understand and mitigate these failure modes before the system can reliably be implemented. The present study emerged as an exploratory research as part of a safety assessment framework development for the ADS-B system. It reviews the ADS-B failure modes, data collection and analysis of ADS-B and its corresponding onboard GPS data. The study identifies a set of failures common to certain aircraft models, with consistent error patterns. A key failure mode was found to be associated with the navigation data from the onboard GPS. We discuss the identified failure modes and investigate the nature and causes of these failures. The findings highlight some of the deficiencies of the current ADS-B system, which will need to be addressed before the ADS-B system can reliably be implemented.  相似文献   

An integrated land vehicle navigation system based on context awareness     

Nan Gao  Long Zhao 《GPS Solutions》2016,20(3):509-524

In the complex urban environments, land vehicle navigation purely relying on GNSS cannot satisfy user needs due to the loss of satellite signals caused by obstructions such as buildings, tunnels, and trees. To solve this problem, we introduce a GPS-/MSINS-/magnetometer-integrated urban navigation system based on context awareness. In this system, the data from the Micro Strapdown Inertial Navigation System (MSINS) are used to analyze and detect the context knowledge of vehicles, whose sensor errors can be compensated by the heuristic drift reduction algorithm for different motion situations. When GPS is available, the vehicle position can be estimated by unscented Kalman Filter, whereas in the case of GPS outages, the vehicle attitude is provided by an attitude and heading reference system and the motion constraints-aided algorithm is used to complete the positioning. In the experiment validation, the integrated navigation system is set up by low-cost inertial sensors. The result shows that the proposed system can achieve high accuracy when GPS is available. For most of the time without GPS, the system can guarantee the positioning precision of 10 m and compensate the errors of MSINS effectively, which fully satisfies positioning needs in complex urban environments.  相似文献   

An Immune Genetic Algorithm to Buildings Displacement in Cartographic Generalization          下载免费PDF全文

Yageng Sun  Qingsheng Guo  Yuangang Liu  Xiaoya Ma  Jie Weng 《Transactions in GIS》2016,20(4):585-612

Spatial conflicts may occur when map data are displayed at a scale smaller than that of the source map. This study applies the displacement operator in cartographic generalization to resolve such spatial conflicts and to improve the clarity and legibility of map. The immune genetic algorithm (IGA) is used in this study for buildings displacement to solve conflicts. IGA is based on the genetic algorithm (GA) and employs the self‐adjusting mechanism of antibody concentration to enhance population diversity. Meanwhile, the elitism retention strategy is adopted in IGA to guarantee that the best individual (antibody) is not lost and destroyed in the next generation to strengthen convergence efficiency. The compared experiment between IGA and GA shows that the displacement result produced by IGA performs better than GA. Finally, in order to make the displaced map more attractive to cartographers, two constraints – the building alignment constraint and building tangent relation constraint – are applied in IGA to restrict the buildings’ displacement. The same experimental data are adopted to prove that the improved IGA is useful for maintaining the two constraints.  相似文献   

Testing block subdivision algorithms on block designs     

Natalie Wiseman  Zachary Patterson 《Journal of Geographical Systems》2016,18(1):17-43

Integrated land use–transportation models predict future transportation demand taking into account how households and firms arrange themselves partly as a function of the transportation system. Recent integrated models require parcels as inputs and produce household and employment predictions at the parcel scale. Block subdivision algorithms automatically generate parcel patterns within blocks. Evaluating block subdivision algorithms is done by way of generating parcels and comparing them to those in a parcel database. Three block subdivision algorithms are evaluated on how closely they reproduce parcels of different block types found in a parcel database from Montreal, Canada. While the authors who developed each of the algorithms have evaluated them, they have used their own metrics and block types to evaluate their own algorithms. This makes it difficult to compare their strengths and weaknesses. The contribution of this paper is in resolving this difficulty with the aim of finding a better algorithm suited to subdividing each block type. The proposed hypothesis is that given the different approaches that block subdivision algorithms take, it’s likely that different algorithms are better adapted to subdividing different block types. To test this, a standardized block type classification is used that consists of mutually exclusive and comprehensive categories. A statistical method is used for finding a better algorithm and the probability it will perform well for a given block type. Results suggest the oriented bounding box algorithm performs better for warped non-uniform sites, as well as gridiron and fragmented uniform sites. It also produces more similar parcel areas and widths. The Generalized Parcel Divider 1 algorithm performs better for gridiron non-uniform sites. The Straight Skeleton algorithm performs better for loop and lollipop networks as well as fragmented non-uniform and warped uniform sites. It also produces more similar parcel shapes and patterns.  相似文献   

Exploring the spatially varying innovation capacity of the US counties in the framework of Griliches’ knowledge production function: a mixed GWR approach   总被引：1，自引：0，他引：1  

Dongwoo Kang  Sandy Dall’erba 《Journal of Geographical Systems》2016,18(2):125-157

Griliches’ knowledge production function has been increasingly adopted at the regional level where location-specific conditions drive the spatial differences in knowledge creation dynamics. However, the large majority of such studies rely on a traditional regression approach that assumes spatially homogenous marginal effects of knowledge input factors. This paper extends the authors’ previous work (Kang and Dall’erba in Int Reg Sci Rev, 2015. doi: 10.1177/0160017615572888) to investigate the spatial heterogeneity in the marginal effects by using nonparametric local modeling approaches such as geographically weighted regression (GWR) and mixed GWR with two distinct samples of the US Metropolitan Statistical Area (MSA) and non-MSA counties. The results indicate a high degree of spatial heterogeneity in the marginal effects of the knowledge input variables, more specifically for the local and distant spillovers of private knowledge measured across MSA counties. On the other hand, local academic knowledge spillovers are found to display spatially homogenous elasticities in both MSA and non-MSA counties. Our results highlight the strengths and weaknesses of each county’s innovation capacity and suggest policy implications for regional innovation strategies.  相似文献