Accuracy and reliability of tightly coupled GPS/ultra-wideband positioning for surveying in urban environments |
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| Authors: | Glenn MacGougan Kyle O’Keefe Richard Klukas |
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| Institution: | (1) Schulich School of Engineering, Department of Geomatics Engineering, University of Calgary, 2500 University Dr. NW, Calgary, AB, T2N 1N4, Canada;(2) School of Engineering, University of British Columbia Okanagan, 3333 University Way, Kelowna, BC, V1V 1V7, Canada; |
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| Abstract: | A tightly coupled filter integrating GPS and ultra-wideband (UWB) observations for high-precision position applications is
implemented and tested to survey several external corner points of an eight story building. The filter uses GPS pseudoranges,
GPS carrier-phase measurements, and UWB ranges and includes in-run estimation of UWB bias and scale factor states. The filter
employs inequality constraints and innovation testing to mitigate the effects of unmodeled errors. The tightly coupled solution
is compared to GPS-only, UWB-only, and loosely coupled solutions. The ability of each solution to detect measurement blunders
is compared. Sub-meter level position solutions are maintained using tight-coupling in conditions where the solutions from
the other three approaches are either unavailable or unreliable. |
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