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Estimator-Based GPS Attitude and Angular Velocity Determination

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Computers, Materials & Continua 2022年第6期71卷 6107-6124页

作者： Dah-Jing jwo Department of Communications Navigation and Control EngineeringTaiwan Ocean UniversityKeelung202301Taiwan

In this paper,the estimator-based Global Positioning System(GPS)attitude and angular velocity determination is *** of the attitude estimator include the attitude angles and attitude rates or body angular velocities,depending on the design of *** as a position,velocity and time sensor,the GPS also offers a free attitude-determination *** research and applications to the field of attitude determination using carrier phase or Doppler measurement has been extensively *** rawattitude solution using the interferometry technique based on the least-squares approach is inherently *** estimator such as the Kalman filter(KF)or extended Kalman filter(EKF)can be incorporated into the GPS interferometer,potentially providing several advantages,such as accuracy improvement,reliability enhancement,and real-time *** estimator-based approaches are investigated for performance comparison,including(1)KF with measurement involving attitude angles only;(2)EKF with measurements based on attitude angles only;(3)EKF with measurements involving both attitude angles and body angular *** assistance from body mounted gyroscopes,if available,can be utilized as the measurements for further performance improvement,especially useful for the case of signal-challenged environment,such as the GPS *** of the dynamic process involving the body angular rates and derivation of the related algorithm will be *** results for various estimator-based approaches are conducted;performance comparison is presented for the case of GPS outages.

关键词： Global positioning system(GPS) extended Kalman filter attitude determination angular velocity

Estimation of Quaternion Motion for GPS-Based Attitude Determination Using the Extended Kalman Filter

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Computers, Materials & Continua 2021年第2期66卷 2105-2126页

作者： Dah-Jing jwo Department of Communications Navigation and Control EngineeringTaiwan Ocean UniversityKeelung202-24Taiwan

In this paper,the Global Positioning System(GPS)interferometer provides the preliminarily computed quaternions,which are then employed as the measurement of the extended Kalman filter(EKF)for the attitude determination *** estimated quaternion elements from the EKF output with noticeably improved precision can be converted to the Euler angles for navigation *** aim of the study is ***,the GPS-based computed quaternion vector is utilized to avoid the singularity ***,the quaternion estimator based on the EKF is adopted to improve the estimation *** of the unknown baseline vector between the antennas sits at the heart of GPS-based attitude *** utilization of the carrier phase observables enables the relative positioning to achieve centimeter level accuracy,however,the quaternion elements derived from the GPS interferometer are inherently *** is due to the fact that the baseline vectors estimated by the least-squares method are based on the raw double-differenced *** of the transformation matrix is accessible according to the estimate of baseline vectors and thereafter the computed quaternion elements can be *** the Euler angle method,the process becomes meaningless when the angles are at 90where the singularity problem occurs.A good alternative is the quaternion approach,which possesses advantages over the equivalent Euler angle based transformation since they apply to all *** results on the attitude estimation performance based on the proposed method will be presented and compared to the conventional *** results presented in this paper elucidate the superiority of proposed algorithm.

关键词： Global positioning system(GPS) quaternion extended Kalman filter attitude determination

Complementary Kalman Filter as a Baseline Vector Estimator for GPS-Based Attitude Determination

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Computers, Materials & Continua 2020年第11期65卷 993-1014页

作者： Dah-Jing jwo Department of Communications Navigation and Control EngineeringNational Taiwan Ocean UniversityKeelung202-24Taiwan

The Global Positioning System(GPS)offers the interferometer for attitude determination by processing the carrier phase *** using carrier phase observables,the relative positioning is obtained in centimeter *** interferometry has been firstly used in precise static relative positioning,and thereafter in kinematic *** carrier phase differential GPS based on interferometer principles can solve for the antenna baseline vector,defined as the vector between the antenna designated master and one of the slave antennas,connected to a rigid *** the unknown baseline vectors between the antennas sits at the heart of GPS-based attitude *** conventional solution of the baseline vectors based on least-squares approach is inherently noisy,which results in the noisy attitude *** this article,the complementary Kalman filter(CKF)is employed for solving the baseline vector in the attitude determination mechanism to improve the performance,where the receiver-satellite double differenced observable was utilized as the *** using the carrier phase observables,the relative positioning is obtained in centimeter *** the CKF provides several advantages,such as accuracy improvement,reliability enhancement,and real-time *** results based on the conventional method where the least-squares approach is involved,and the proposed method where the CKF is involved are compared and discussed.

关键词： Global positioning system(GPS) attitude determination complementary Kalman filter baseline vector

Notes on Convergence and Modeling for the Extended Kalman Filter

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Computers, Materials & Continua 2023年第11期77卷 2137-2155页

作者： Dah-Jing jwo Department of Communications Navigation and Control EngineeringTaiwan Ocean UniversityKeelung202301TaiwanChina

The goal of this work is to provide an understanding of estimation technology for both linear and nonlinear dynamical systems.A critical analysis of both the Kalman filter(KF)and the extended Kalman filter(EKF)will be provided,along with examples to illustrate some important issues related to filtering convergence due to system modeling.A conceptual explanation of the topic with illustrative examples provided in the paper can help the readers capture the essential principles and avoid making mistakes while implementing the *** fictitious process noise to the system model assumed by the filter designers for convergence assurance is being investigated.A comparison of estimation accuracy with linear and nonlinear measurements is *** identification by the state estimation method through the augmentation of the state vector is also *** intended readers of this article may include researchers,working engineers,or engineering *** article can serve as a better understanding of the topic as well as a further connection to probability,stochastic process,and system *** lesson learned enables the readers to interpret the theory and algorithms appropriately and precisely implement the computer codes that nicely match the estimation algorithms related to the mathematical *** is especially helpful for those readers with less experience or background in optimal estimation theory,as it provides a solid foundation for further study on the theory and applications of the topic.

关键词： Kalman filter extended kalman filter convergence modeling optimization

Data Wipe-Off Technique for Tracking Weak GPS Signals

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Computers, Materials & Continua 2022年第3期70卷 6159-6176页

作者： Dah-Jing jwo Sheng-Feng Chiu Department of Communications Navigation and Control EngineeringTaiwan Ocean UniversityKeelung202301Taiwan

In this paper,the data wipe-off(DWO)algorithm is incorporated into the vector tracking loop of the Global Positioning System(GPS)receiver for improving signal tracking *** navigation data,which contains information that is necessary to perform navigation computations,are binary phase-shift keying(BPSK)modulated onto the GPS carrier phase with the bit duration of 20 ms(i.e.,50 bits per second).To continuously track the satellite’s signal in weak signal environment,the DWO algorithm on the basis of pre-detection method is adopted to detect data bit sign reversal every 20 *** accuracy of a weak GPS signal is decreased by possible data bit sign reversal every 20 ms to the predetection integration time(PIT)or integration *** achieve better tracking performance in weak signal environment,the coherent integration interval can be ***,increase of the integration interval lead to decrease of the tracking accuracy by possible data bit sign reversal every 20 ms to the integration *** the integration interval of the correlator is extended over 20 ms in low C/No levels,the navigation DWO algorithm can be employed to avoid energy loss due to bit *** method presented in this paper has an advantage to continuously estimate the navigation data bit and achieve improved tracking *** of the tracking performance based on the various integration intervals for the vector tracking loop of a GPS receiver will be presented.

关键词： Global positioning system(GPS) integration interval data wipeoff weak signal

Minimum Error Entropy Based EKF for GPS Code Tracking Loop

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Computers, Materials & Continua 2021年第6期67卷 2883-2898页

作者： Dah-Jing jwo Jen-Hsien Lai Department of Communications Navigation and Control EngineeringTaiwan Ocean University202301TaiwanChina Chunghwa Precision Test Tech.Co. Ltd.Taoyuan City324TaiwanChina

This paper investigates the minimum error entropy based extended Kalman filter(MEEKF)for multipath parameter estimation of the Global Positioning System(GPS).The extended Kalman filter(EKF)is designed to give a preliminary estimation of the *** scheme is designed by introducing an additional term,which is tuned according to the higher order moment of the estimation *** minimum error entropy criterion is introduced for updating the entropy of the innovation at each time *** to the stochastic information gradient method,an optimal filer gain matrix is *** mean square error criterion is limited to the assumption of linearity and ***,non-Gaussian noise is often encountered in many practical environments and their performances degrade dramatically in non-Gaussian *** of the existing multipath estimation algorithms are usually designed for Gaussian *** I(in-phase)and Q(quadrature)accumulator outputs from the GPS correlators are used as the observational measurements of the EKF to estimate the multipath parameters such as amplitude,code delay,phase,and carrier *** reasonable way to obtain an optimal estimation is based on the minimum error entropy *** MEEKF algorithm provides better estimation accuracy since the error entropy involved can characterize all the randomness of the *** assessment is presented to evaluate the effectivity of the system designs for GPS code tracking loop with multipath parameter estimation using the minimum error entropy based extended Kalman filter.

关键词： Entropy extended Kalman filter multipath global positioning system tracking loop

GPS Vector Tracking Loop with Fault Detection and Exclusion

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Computers, Materials & Continua 2021年第8期68卷 1785-1805页

作者： Dah-Jing jwo Meng-Hsien Hsieh Department of Communications Navigation and Control EngineeringTaiwan Ocean UniversityKeelung202301Taiwan

In this paper,both the integrity monitoring and fault detection and exclusion(FDE)mechanisms are incorporated into the vector tracking loop(VTL)architecture of the Global Positioning System(GPS)receiver for reliability *** the VTL,the tasks of signal tracking and navigation state estimation no longer process separately and a single extended Kalman filter(EKF)is employed to simultaneously track the received signals and estimate the receiver’s position,velocity,*** contrast to the scalar tracking loop(STL)which utilizes the independent parallel tracking loop approach,the VTL technique is beneficial from the correlation of each satellite signal and user *** VTL approach provides several important *** of the merits is that the tracking loop can be assisted for overcoming the problem of signal *** the VTL architectures provide several important advantages,they suffer some fundamental *** example,the errors in the navigation solutions may degrade the tracking *** most significant drawback is that failure of tracking in one channel may affect the entire tracking loop and possibly lead to loss of *** reliability enhancement,the EKF based integrity monitoring and FDE algorithms are developed to prevent the error from spreading into the entire tracking *** integrity monitoring is utilized to check the possible fault in the pseudorange and the pseudorange rate,followed by the FDE mechanism employed to exclude the abnormal satellite *** assessment and evaluation for the proposed approach will be presented.

关键词： Global Positioning System vector tracking loop signal blockage integrity fault detection and exclusion

GPS Vector Tracking Receivers with Rate Detector for Integrity Monitoring

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Computers, Materials & Continua 2021年第11期69卷 2387-2403页

作者： Dah-Jing jwo Ming-Hsuan Lee Department of Communications Navigation and Control EngineeringTaiwan Ocean UniversityKeelung202301TaiwanChina

In this paper,the integrity monitoring algorithm based on a Kalman filter(KF)based rate detector is employed in the vector tracking loop(VTL)of the Global Positioning System(GPS)*** the VTL approach,the extended Kalman filter(EKF)simultaneously tracks the received signals and estimates the receiver’s position,velocity,*** contrast to the scalar tracking loop(STL)that uses the independent parallel tracking loop approach,the VTL technique uses the correlation of each satellite signal and user dynamics and thus reduces the risk of loss lock of *** the VTL scheme provides several important advantages,the failure of tracking in one channel may affect the entire system and lead to loss of lock on all *** integrity monitoring algorithm can be adopted for robustness *** general,the standard integrity monitoring algorithm can timely detect the step type erroneous ***,in the presence of ramp type slowly growing erroneous signals,detection of such type of error takes much more time since the error cannot be detected until the cumulative exceeds the specified *** integrity monitoring based on the rate detector possesses good potential for resolving such *** test statistic based on the pseudorange residual in association with the EKF is applied for determination of whether the test statistic exceeds the allowable threshold *** fault detection and exclusion(FDE)mechanism can then be employed to exclude the hazardous erroneous signals for the abnormal satellites to assure normal operation of GPS *** of the integrity monitoring algorithm based on the EKF based rate detector will be *** assessment and evaluation will be presented.

关键词： Global positioning system vector tracking loop integrity monitoring rate detector slowly growing errors

Estimation Performance for the Cubature Particle Filter under Nonlinear/Non-Gaussian Environments

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Computers, Materials & Continua 2021年第5期67卷 1555-1575页

作者： Dah-Jing jwo Chien-Hao Tseng Department of Communications Navigation and Control EngineeringTaiwan Ocean UniversityKeelung202301TaiwanChina National Center for High-Performance Computing National Applied Research LaboratoriesHsinchu30076TaiwanChina

This paper evaluates the state estimation performance for processing nonlinear/non-Gaussian systems using the cubature particle lter(CPF),which is an estimation algorithm that combines the cubature Kalman lter(CKF)and the particle lter(PF).The CPF is essentially a realization of PF where the third-degree cubature rule based on numerical integration method is adopted to approximate the proposal *** is benecial where the CKF is used to generate the importance density function in the PF framework for effectively resolving the nonlinear/non-Gaussian *** on the spherical-radial transformation to generate an even number of equally weighted cubature points,the CKF uses cubature points with the same weights through the spherical-radial integration rule and employs an analytical probability density function(pdf)to capture the mean and covariance of the posterior distribution using the total probability theorem and subsequently uses the measurement to update with Bayes’*** is capable of acquiring a maximum a posteriori probability estimate of the nonlinear system,and thus the importance density function can be used to approximate the true posterior density *** Bayesian ltering,the nonlinear lter performs well when all conditional densities are assumed *** applied to the nonlinear/non-Gaussian distribution systems,the CPF algorithm can remarkably improve the estimation accuracy as compared to the other particle lterbased approaches,such as the extended particle lter(EPF),and unscented particle lter(UPF),and also the Kalman lter(KF)-type approaches,such as the extended Kalman lter(EKF),unscented Kalman lter(UKF)and *** illustrative examples are presented showing that the CPF achieves better performance as compared to the other approaches.

关键词： Nonlinear estimation non-Gaussian Kalman lter unscented Kalman lter cubature particle filter