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Performance Assessment of BDS-2/BDS-3/GPS/Galileo Attitude Determination Based on the single-differenced model with Common-Clock Receivers

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REMOTE SENSING 2021年第23期13卷

作者： Wu, Mingkui Luo, Shuai Wang, Wang Liu, Wanke China Univ Geosci Wuhan Sch Geog & Informat Engn Wuhan 430074 Peoples R China Wuhan Univ Sch Geodesy & Geomat Wuhan 430079 Peoples R China Wuhan Univ Key Lab Geospace Environm & Geodesy Minist Educ Wuhan 430079 Peoples R China

Global navigation satellite system (GNSS)-based attitude determination has been widely applied in a variety of fields due to its high precision, no error accumulation, low power consumption, and low cost. Recently, the emergence of common-clock receivers and construction of GNSS systems have brought new opportunities for high-precision GNSS-based attitude determination. In this contribution, we focus on evaluating the performance of the BeiDou regional navigation satellite system (BDS-2)/BeiDou global navigation satellite system (BDS-3)/Global Positioning System (GPS)/Galileo navigation satellite system (Galileo) attitude determination based on the single-differenced (SD) model with a common-clock receiver. We first investigate the time-varying characteristics of BDS-2/BDS-3/GPS/Galileo line bias (LB) with two different types of common-clock receivers. The results have confirmed that both the phase and code LBs are relatively stable in the time domain once the receivers have started. However, the phase LB is expected to change to an arbitrary value after each restart of the common-clock receivers. For the first time, it is also found that the phase LBs of overlapping frequencies shared by different GNSS systems are identical. Then, we primarily evaluated the performance of BDS-2/BDS-3/GPS/Galileo precise relative positioning and attitude determination based on the SD model with a common-clock receiver, using a static dataset collected at Wuhan. Experimental results demonstrated that, compared with the double-differenced (DD) model, the SD model can deliver a comparable root-mean-square (RMS) error of yaw but a significantly smaller RMS error of pitch, whether for BDS-2, BDS-3, GPS, or Galileo alone or a combination of them. The improvements of pitch accuracy are approximately 20.8-47.5% and 40.7-57.5% with single- and dual-frequency observations, respectively. Additionally, BDS-3 can deliver relatively superior positioning and attitude accuracy with respect to GPS a

关键词： BDS-3 BeiDou navigation satellite system (BDS) Galileo single-differenced model GNSS attitude determination common-clock receiver

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Particle filter-based real-time phase line bias estimation for GNSS-based attitude determination with common-clock receivers

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ADVANCES IN SPACE RESEARCH 2023年第3期71卷 1682-1699页

作者： Wu, Mingkui He, Yan Luo, Shuai Liu, Wanke China Univ Geosci Wuhan Sch Geog & Informat Engn Wuhan 430074 Peoples R China East China Univ Technol Key Lab Digital Land & Resources Jiangxi Prov Nanchang 330013 Peoples R China Wuhan Univ Sch Geodesy & Geomat Wuhan 430079 Peoples R China Wuhan Univ Key Lab Geospace Environm & Geodesy Minist Educ Wuhan 430079 Peoples R China

Global navigation satellite system (GNSS)-based attitude determination has been widely adopted in a wide variety of terrestrial, sea, air, and space applications. Recently, the emergence of commercial multi-GNSS common-clock receivers has brought new opportunities for high-precision GNSS-based attitude determination with single-differenced (SD) model. However, the key requirement of using this approach is the accurate estimation of the troublesome line bias (LB) in real-time. In this contribution, we propose a particle filter-based real-time phase LB estimation approach that apply to SD model with single-system single-frequency observations from common-clock receiver. We first analyzed the relationship between the integer ambiguity ratio value and the phase LB. It is proved that the accuracy of a given phase LB value can be qualified by the related ambiguity resolution ratio value, and the normalized ratio value can therefore be used to represent the likelihood function of observations. Then, we presented the particle filter-based real-time phase LB estimation procedure, and assessed its performance using GPS L1/BDS B1I observations from two datasets collected with different types of commonclock receivers in terms of the accuracy and convergence time of phase LB estimation, the computation load, and the positioning and attitude determination accuracy with respect to the double-differenced (DD) model. Experimental results demonstrated that the phase LB could be accurately estimated with short convergence time (generally within 15 epochs). Moreover, compared with the classical DD approach, the particle filter-based SD approach delivers comparable positioning root-mean-square (RMS) errors in the North and East components but significantly smaller RMS errors in the Up component. Accordingly, the achievable yaw accuracy is comparable whereas the pitch accuracy is remarkably improved. The improvements of positioning accuracy in the Up component and pitch accuracy are appr

关键词： GNSS-based attitude determination single-differenced model Line bias Particle filter Common-clock receiver

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Multi-dimensional particle filter-based estimation of phase line biases for single-differenced ambiguity resolution in GNSS-based attitude determination

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MEASUREMENT SCIENCE AND TECHNOLOGY 2023年第2期34卷 025026-025026页

作者： Wu, Mingkui He, Yan Wu, Hao Liu, Wanke China Univ Geosci Wuhan Sch Geog & Informat Engn Wuhan 430074 Peoples R China East China Univ Technol Key Lab Digital Land & Resources Jiangxi Prov Nanchang 330013 Peoples R China Wuhan Univ Sch Geodesy & Geomatics Wuhan 430079 Peoples R China Wuhan Univ Key Lab Geospace Environm & Geodesy Minist Educ Wuhan 430079 Peoples R China

Global navigation satellite systems (GNSSs) have been widely used to provide real-time and high-precision attitude information for land vehicles, ships and aircraft over the past few decades. With the joint use of emerging multi-GNSS common-clock receivers and the single-differenced (SD) model, the accuracy of pitch and roll can be significantly improved to the same level as that of yaw. However, the prerequisite is that the frequency-dependent phase line biases (LBs) in multiple GNSS systems and frequencies are accurately and rapidly estimated. In this contribution, we intend to solve this problem by using a multi-dimensional particle filter (PF)-based approach. We first investigate the relationship between the ratio value and the multi-dimensional phase LBs. Results have revealed that the ratio value can be used to judge the quality of multi-dimensional phase LBs and represent the likelihood function of the observations. We then present the procedure of multi-dimensional PF-based phase LBs estimation for SD ambiguity resolution and attitude determination. An improved strategy is also proposed to reduce the computation time. Finally, we take the two-dimensional case as a representative example to evaluate the performance of the proposed method in aspects of the convergence and accuracy of phase LB estimates, the attitude determination accuracy, and the computation time. Experimental results from two static datasets have demonstrated that the two-dimensional phase LBs basically rapid converge within 20 epochs. Moreover, compared with the double-differenced method, the proposed multi-dimensional PF-based SD method could provide comparable yaw accuracy and much better pitch accuracy. The pitch accuracy is improved to the same level as yaw by approximately 42.9%-50.0%. With regard to the computation time, it is found that with the proposed modification strategy, the single-epoch computation times are significantly reduced by approximately 90.7%-93.5%, and they are most

关键词： GNSS-based attitude determination multi-dimensional particle filter single-differenced model line bias common-clock receiver

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IMPROVING GNSS POSITIONING RELIABILITY AND ACCURACY BASED ON FACTOR GRAPH OPTIMIZATION IN URBAN ENVIRONMENT 5

IMPROVING GNSS POSITIONING RELIABILITY AND ACCURACY BASED ON...

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5th International-Society-for-Photogrammetry-and-Remote-Sensing (ISPRS) Geospatial Week (GSW)

作者： Zhang, Y. Zhu, F. Zhang, X. Wuhan Univ Sch Geodesy & Geomat Wuhan 430079 Peoples R China Wuhan Univ Chinese Antarctic Ctr Surveying & Mapping Wuhan 430079 Peoples R China

Global navigation satellite system (GNSS) can provide global, precise, and continuous positioning in open-sky environments. However, urban environments with frequent outliers and cycle slips degrade the traditional Extended Kalman Filter (EKF) positioning performance. The susceptibility of EKF to outliers is attributed to its inherent structure. To mitigate, the GNSS positioning based on the Factor Graph Optimization (FGO) structure is adopted. FGO can enhance time correlation among observations and enable the updating of historical information, thereby improving resistance against outliers. In this study, we proposed a single-differenced GNSS-FGO model instead of the double-differenced model to preserve the sparsity of FGO, and outlier detection and PAR methods are employed to ensure urban positioning performance. To evaluate the proposed structure, experiments are conducted in both urban and open-sky environments. The results demonstrate the improvement of positioning accuracy and reliability, compared to EKF.

关键词： Factor Graph Optimization single-differenced model Urban Environments Outlier Detection GNSS Positioning

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Attitude Determination with GPS L1/Galileo E1 Observations from Common-Clock Receiver: A Comparison of Four Different models

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REMOTE SENSING 2022年第21期14卷

作者： Wu, Mingkui Li, Jiahang Luo, Shuai Liu, Wanke China Univ Geosci Wuhan Sch Geog & Informat Engn Wuhan 430074 Peoples R China East China Univ Technol Key Lab Digital Land & Resources Jiangxi Prov Nanchang 330013 Jiangxi Peoples R China Wuhan Univ Sch Geodesy & Geomat Wuhan 430079 Peoples R China Wuhan Univ Key Lab Geospace Environm & Geodesy Minist Educ Wuhan 430079 Peoples R China

The development of the commercial multi global navigation satellite system (GNSS) dual (multi)-antenna common-clock receiver that uses time-synchronization technology has brought new opportunities for high-precision GNSS-based attitude determination. In this article, for the first time, we present a performance comparison of global positioning system (GPS) L1/Galileo navigation satellite system (Galileo) E1 attitude determination with a common-clock receiver using four different models, i.e., the loosely combined single-differenced (SD-LC) model, the tightly combined single-differenced (SD-TC) model, the loosely combined double-differenced (DD-LC) model, and the tightly combined double-differenced (DD-TC) model. We first introduce the SD-LC, SD-TC, DD-LC, and DD-TC relative positioning models with GPS L1/Galileo E1 observations from a common-clock receiver. Then, we present a performance comparison of the four models in both single-epoch and multi-epoch modes using static data collected with a Trimble BD992 common-clock receiver in terms of the ambiguity dilution of precision (ADOP), the ambiguity resolution (AR) success and failure rates, and the positioning and attitude determination accuracy. In the case of the single-epoch mode, the experimental results revealed that the results of the single-differenced (SD) models were identical to those of double-differenced (DD) models, i.e., the results of SD-LC and SD-TC models were identical to DD-LC and DD-TC models, respectively. Moreover, compared with the loosely combined model (SD-LC/DD-LC), the tightly combined model (SD-TC/DD-TC) delivered a much higher AR success rate and a lower AR failure rate, especially under a high elevation cutoff angle. The AR success rate increased by approximately 35.1% under a 40 degrees elevation cutoff angle, while the AR failure rate decreased by approximately 4.3%. In the case of the multi-epoch mode, the experimental results confirmed the advantages of the tightly combined model ove

关键词： GNSS attitude determination common-clock receiver GPS Galileo single-differenced model double-differenced model

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