Post-Processing Precise Point Positioning Solutions with Parameter Optimization

Precise Point Positioning (PPP) technique can offer position solutions with centimeter-level accuracy by fusing precise satellite orbits and clocks with un-differenced, dual-frequency, pseudo-range, and carrier-phase observables. PPP presents a compelling alternative to Differential Global Positioning Systems, with the benefit that it only requires a single receiver and does not require simultaneous observations from many stations, making it appealing for ongoing research on hydro-graphic survey applications. The National Oceanic and Atmospheric Administration has been working on a buoy system tracked with a Global Positioning Systems receiver and Inertial Measurement Unit sensor using the PPP technique. In the interest of obtaining accurate measurements, this data is post-processed using a software package for position navigation with tight Inertial Navigation System capabilities developed by the Jet Propulsion Laboratory, this is GNSS Inferred Positioning Systems (GIPSYx). GIPSYx Software allows finely controllable user inputs for selectable models and configurations. This flexibility allows fitting the right models for different data sources but requires a tuning process to find suitable configurations. A processing strategy for buoy data with GIPSYx positioning software is described and a method to assess solutions to automatically optimize the process of finding these manually tuned model parameters is provided. Other data sources are considered to generalize this method and prove the concept of optimizing positioning software configurations from output solution evaluation using black-box optimization

Reduction of initial convergence period in GPS PPP data processing

Precise Point Positioning (PPP) has become a popular technique to process data from GPS receivers by applying precise satellite orbit and clock information, along with other minor corrections to produce cm to dm-level positioning. Although PPP presents definite advantages such as operational flexibility and cost effectiveness for users, it requires 15-25 minutes initialization period as carrier-phase ambiguities converge to constant values and the solution reaches its optimal precision. Pseudorange multipath and noise are the largest remaining unmanaged errors source in PPP. It is proposed that by reducing these effects carrier-phase ambiguities will reach the correct steady state at an earlier time, thus reducing the convergence period of PPP. Given this problem, this study seeks to improve management of these pseudorange errors. The well-known multipath linear combination was used in two distinct ways: 1) to directly correct the raw pseudorange observables, and 2) to stochastically de-weight the pseudorange observables. Corrections to the observables were made in real-time using data from the day before, and post-processed using data from the same day. Post-processing has shown 4 7% improvement in the rate of convergence, as the pseudorange multipath and noise were effectively mitigated. A 36% improvement in the rate of convergence was noted when the pseudorange measurements were stochastically de-weighting using the multipath observable. The strength of this model is that it allows for real-time compensation of the effects of the pseudorange multipath and noise in the stochastic model

Localization Precise in Urban Area

Nowadays, stand-alone Global Navigation Satellite System (GNSS) positioning accuracy is not sufficient for a growing number of land users. Sub-meter or even centimeter accuracy is becoming more and more crucial in many applications. Especially for navigating rovers in the urban environment, final positioning accuracy can be worse as the dramatically lack and contaminations of GNSS measurements. To achieve a more accurate positioning, the GNSS carrier phase measurements appear mandatory. These measurements have a tracking error more precise by a factor of a hundred than the usual code pseudorange measurements. However, they are also less robust and include a so-called integer ambiguity that prevents them to be used directly for positioning. While carrier phase measurements are widely used in applications located in open environments, this thesis focuses on trying to use them in a much more challenging urban environment. To do so, Real Time-Kinematic (RTK) methodology is used, which is taking advantage on the spatially correlated property of most code and carrier phase measurements errors. Besides, the thesis also tries to take advantage of a dual GNSS constellation, GPS and GLONASS, to strengthen the position solution and the reliable use of carrier phase measurements. Finally, to make up the disadvantages of GNSS in urban areas, a low-cost MEMS is also integrated to the final solution. Regarding the use of carrier phase measurements, a modified version of Partial Integer Ambiguity Resolution (Partial-IAR) is proposed to convert as reliably as possible carrier phase measurements into absolute pseudoranges. Moreover, carrier phase Cycle Slip (CS) being quite frequent in urban areas, thus creating discontinuities of the measured carrier phases, a new detection and repair mechanism of CSs is proposed to continuously benefit from the high precision of carrier phases. Finally, tests based on real data collected around Toulouse are used to test the performance of the whole methodology

Advanced Integration of GNSS and External Sensors for Autonomous Mobility Applications

L'abstract è presente nell'allegato / the abstract is in the attachmen

Positioning in urban environments

This thesis will try to further increase the accuracy of a mixed GNSS and inertial solution for navigation in urban areas. The mix will represent a set of low cost sensors to mea-sure their performance. The objectives will be the implementation of a multi-constellation GNSS receiver, and the research and test of modelling techniques for GNSS measure-ments based on carrier-to-noise ratio. Any other technique that allows for an increase in the accuracy will also be used and tested. The laboratory work for this thesis will be done at l'Ecole Nationale de l'Aviation Civile as part of an exchange program. First of all the theoretical studies will be carried out, first of stand-alone GNSS and INS navigation and then on their integration. This integration will consist on the use of a Kalman Filter algorithm, and therefore additional theory on the implementation of this filter will be necessary. Then the current algorithm developed by ENAC is analysed, together with the hardware connection requested with the different equipment. A measurement campaign was done to collect new samples from ENAC at the outskirts of Toulouse to the city center. Data was then post process several times to obtain the most optimal configuration for the receiver in urban and suburban environments. The re-sults showed that the implementation of GLONASS together with the suggested weighting modelling based on carrier-to-noise level measurements allowed an increase of almost 50% in the accuracy of the position and the estimation of the yaw

Flight-Test Evaluation of Kinematic Precise Point Positioning of Small UAVs

An experimental analysis of Global Positioning System (GPS) flight data collected onboard a Small Unmanned Aerial Vehicle (SUAV) is conducted in order to demonstrate that postprocessed kinematic Precise Point Positioning (PPP) solutions with precisions approximately 6 cm 3D Residual Sum of Squares (RSOS) can be obtained on SUAVs that have short duration flights with limited observational periods (i.e., only ∼≤5 minutes of data). This is a significant result for the UAV flight testing community because an important and relevant benefit of the PPP technique over traditional Differential GPS (DGPS) techniques, such as Real-Time Kinematic (RTK), is that there is no requirement for maintaining a short baseline separation to a differential GNSS reference station. Because SUAVs are an attractive platform for applications such as aerial surveying, precision agriculture, and remote sensing, this paper offers an experimental evaluation of kinematic PPP estimation strategies using SUAV platform data. In particular, an analysis is presented in which the position solutions that are obtained from postprocessing recorded UAV flight data with various PPP software and strategies are compared to solutions that were obtained using traditional double-differenced ambiguity fixed carrier-phase Differential GPS (CP-DGPS). This offers valuable insight to assist designers of SUAV navigation systems whose applications require precise positionin

Performance Analysis of Constrained Loosely Coupled GPS/INS Integration Solutions

The paper investigates approaches for loosely coupled GPS/INS integration. Error performance is calculated using a reference trajectory. A performance improvement can be obtained by exploiting additional map information (for example, a road boundary). A constrained solution has been developed and its performance compared with an unconstrained one. The case of GPS outages is also investigated showing how a Kalman filter that operates on the last received GPS position and velocity measurements provides a performance benefit. Results are obtained by means of simulation studies and real dat