Book Chapter10.1007/978-981-16-3146-7_43
Robust GNSS Position Estimation Using Graph Optimization Based Vector Tracking
Changhui Jiang,Yu Chen,Bohao Wang,Yuwei Chen,Shuai Chen,Juha Hyyppä +5 more
- 01 Jan 2021
- pp 466-472
TL;DR: In this article, a Graph Optimization (GO) based on vector tracking (VT) is proposed and demonstrated as a superior method to obtain more robust navigation solutions, instead of individually tracking the signals, VT accomplishes signal tracking and navigation solutions estimation through a central navigation filter, mutual aiding between the channels is realized in this manner.
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Abstract: Vector tracking (VT) is proposed and demonstrated as a superior method to obtain more robust navigation solutions. In VT, instead of individually tracking the signals, VT accomplishes signal tracking and navigation solutions estimation through a central navigation filter, mutual aiding between the channels is realized in this manner. Commonly, a Kalman Filter (KF) is employed as the center navigation filter to estimate the navigation solutions, the estimated navigation solutions are then fed back to calculate the signal tracking parameters. However, KF works in a recursive manner, relationships between the current state and all the past states are ignored, which might degrade the estimation of the navigation solutions. In this paper, we proposed a Graph Optimization (GO) based on VT. GO optimized the state estimation utilizing all the past information instead of KF, the state transformation, and measurement model were all added to the GO as the constraints to optimize the state estimation. An experiment was carried out for assessing the proposed GO-VT, statistical analysis of the navigation solutions and the corresponding comparisons demonstrated the superiority of the proposed GO-VT method.
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References
Principles of GNSS, inertial, and multisensnr integrated navigation systems, 2nd edition [Book review]
TL;DR: This second edition of Dr. Grove's book is an excellent reference (with numerous nuggets of wisdom) that should be readily handy on the shelf of every practicing navigation engineer and will also serve students as a great textbook.
649
A valid comparison of vector and scalar tracking loops
Matthew Lashley,David M. Bevly,John Y. Hung +2 more
- 04 May 2010
TL;DR: The analysis technique used to design the equivalent tracking loops provides a simple way to compare other attributes of the algorithms, such as their multipath immunity and robustness, and demonstrate the amount of improvement vector tracking can provide in different situations.
52
Low-cost GPS/INS integration with accurate measurement modeling using an extended state observer
TL;DR: An extended state observer (ESO) is proposed for the first time to improve the navigation performance of the loosely coupled GPS/INS integration with accurate measurement modeling and demonstrates that the navigationperformance can be improved significantly in terms of position and velocity when compared with the EKF method.
28
Probabilistic approach to detect and correct GNSS NLOS signals using an augmented state vector in the extended Kalman filter
Changhui Jiang,Bing Xu,Li-Ta Hsu +2 more
TL;DR: In this paper, the vector tracking loop (VTL) was used to detect non-line-of-sight (NLOS) signal reception in urban areas by modeling the code discriminator outputs using Gaussian fitting.
22
Research on a chip scale atomic clock driven GNSS/SINS deeply coupled navigation system for augmented performance
TL;DR: It was discovered that the CSAC could enhance the position performance, even if amount of satellites were fewer than four in view, however, VTL_DI system could not guarantee its positioning accuracy without clock offset as state variable, which was different from STL-DI system.
20