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Unscented Kalman filter for a low-cost gnss/IMU-based mobile mapping application under demanding conditions

Geodesy and Geodynamics 2024年第2期15卷 166-176页

作者： Mokhamad Nur Cahyadi Tahiyatul Asfihani Hendy Fitrian Suhandri Risa Erfianti Department of Geomatics Engineering Institut Teknologi Sepuluh NopemberSurabaya 6011Indonesia Research Center of Marine and Earth Science Technology Directorate of Research and Community ServiceInstitut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Department of Mathematics Institut Teknologi Sepuluh NopemberSurabaya 60111Indonesia Centre of Studies for Surveying Science&Geomatics Universiti Teknologi Mara(UiTM)Shah Alam 40450Malaysia

For the last two decades,low-cost Global Navigation Satellite System(gnss)receivers have been used in various *** receivers are mini-size,less expensive than geodetic-grade receivers,and in high *** of these outstanding features,low-cost gnss receivers are potentially poorer hardwares with internal signal processing,resulting in lower *** typically come with low-cost gnss antenna that has lower performance than their counterparts,particularly for multipath ***,this research evaluated the low-cost gnss device performance using a high-rate kinematic *** this purpose,these receivers were assembled with an Inertial Measurement Unit(IMU)sensor,which actively transmited data on acceleration and orientation rate during the *** position and navigation parameter data were obtained from the IMU readings,even without gnss signals via the U-blox F9R gnss/IMU device mounted on a *** research was conducted in an area with demanding conditions,such as an open sky area,an urban environment,and a shopping mall basement,to examine the device’s *** data were processed by two approaches:the Single Point Positioning-IMU(SPP/IMU)and the Differential gnss-IMU(Dgnss/IMU).The Unscented Kalman Filter(UKF)was selected as a filtering algorithm due to its excellent performance in handling nonlinear system *** result showed that integrating gnss/IMU in SPP processing mode could increase the accuracy in eastward and northward components up to 68.28%and 66.64%.Integration of Dgnss/IMU increased the accuracy in eastward and northward components to 93.02%and 93.03%compared to the positioning of standalone *** addition,the positioning accuracy can be improved by reducing the IMU noise using low-pass and high-pass *** application could still not gain the expected position accuracy under signal outage conditions.

关键词： low-cost gnss gnss/IMU Single Point Positioning-IMU(SPP/IMU) Differential gnss-IMU(Dgnss/IMU) Unscented Kalman Filter(UKF) Outageconditions

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Performance Evaluation of low-cost Dual-Frequency gnss Receivers for Precise Positioning in Senegal: Issues and Challenges

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Journal of Analytical Sciences, Methods and Instrumentation 2024年第2期14卷 23-37页

作者： Diogoye Diouf Oustasse Abdoulaye Sall Ibrahima Khalil Gueye Fatou Ndiaye Unit de Formation et de Recherche Sciences de lIngnieur Universit Iba Der Thiam de This This Senegal

The development of this technology has favored the advances noted in recent years in the field of precise positioning. It has also paved the way for a wide range of research into the evaluation of their performance and reliability, their potential use in different fields, the improvement of performance and combined systems, etc. Single-frequency gnss receivers, which for a long time remained the only category of low-cost gnss receivers, often limited by their level of accuracy (metric) mainly due to their single-frequency nature, have been joined in the last decade by dual-frequency gnss receivers developed by certain manufacturers of positioning equipment. These receivers now offer possible alternatives to the relatively expensive conventional (topographic quality) or geodetic receivers and. In this study, the performance of these low-cost dual-frequency receivers was evaluated in static and real-time kinematic gnss positioning modes. Static positioning was carried out on three points with sessions of 2 h and 4 h over three days with antenna swapping (CHC i50, Leica GS14 and Emlid Reach RS2+). Real-time observations were carried out on eleven (11) points in open, poorly open and not at all open environments, in order to assess not only performance but also receiver sensitivity in environments with a high risk of multipath. The results obtained showed an average agreement of 2 cm in planimetry between the low-cost Emlid RS2+ receiver and the Leica GS14 and CHC i50 receivers. The differences in altimetry are nevertheless greater (sometimes up to decimetres for certain points). Real-time positioning results provided an average convergence of around 1 cm on the E, N and H components with the results from the low-cost Emlid Reach RS2+ and Ublox ZED-F9P receivers and the CHC i50 receiver. Analysis of the results obtained has enabled us to highlight the various issues and challenges associated with this new generation of gnss receivers, with a view to enhancing their appr

关键词： low-cost gnss NRTK Precise Positioning Issues Challenges

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