TY - JOUR

T1 - Characterisation of GNSS carrier phase data on a moving zero-baseline in urban and aerial navigation

AU - Ruwisch, Fabian

AU - Jain, Ankit

AU - Schön, Steffen

N1 - Funding information: The flight experiment has been carried out in the project VENADU II funded by the German Federal Ministry for Economic Affairs and Energy following a resolution of the German Bundestag (project number: 50NA1705). The terrestrial data was analysed in the framework of the i.c.sens research training group funded by DFG under grant GRK2159. Acknowledgments: The authors would like to thank Tobias Kersten, Thomas Krawinkel and Lucy Icking for the help in conducting the car experiment. The authors would like to thank Jens Kremer and Andreas Dach from IGI mbH for conducting the flight experiment with us and providing the reference trajectory solution.

PY - 2020/7/21

Y1 - 2020/7/21

N2 - We present analyses of Global Navigation Satellite System (GNSS) carrier phase observations in multiple kinematic scenarios for different receiver types. Multi-GNSS observations are recorded on high sensitivity and geodetic-grade receivers operating on a moving zero-baseline by conducting terrestrial urban and aerial flight experiments. The captured data is post-processed; carrier phase residuals are computed using the double difference (DD) concept. The estimated noise levels of carrier phases are analysed with respect to different parameters. We find DD noise levels for L1 carrier phase observations in the range of 1.4–2 mm (GPS, Global Positioning System), 2.8–4.6 mm (GLONASS, Global Navigation Satellite System), and 1.5–1.7 mm (Galileo) for geodetic receiver pairs. The noise level for high sensitivity receivers is at least higher by a factor of 2. For satellites elevating above 30 ◦, the dominant noise process is white phase noise. For the flight experiment, the elevation dependency of the noise is well described by the exponential model, while for the terrestrial urban experiment, multipath and diffraction effects overlay; hence no elevation dependency is found. For both experiments, a carrier-to-noise density ratio (C/N 0) dependency for carrier phase DDs of GPS and Galileo is clearly visible with geodetic-grade receivers. In addition, C/N 0 dependency is also visible for carrier phase DDs of GLONASS with geodetic-grade receivers for the terrestrial urban experiment.

AB - We present analyses of Global Navigation Satellite System (GNSS) carrier phase observations in multiple kinematic scenarios for different receiver types. Multi-GNSS observations are recorded on high sensitivity and geodetic-grade receivers operating on a moving zero-baseline by conducting terrestrial urban and aerial flight experiments. The captured data is post-processed; carrier phase residuals are computed using the double difference (DD) concept. The estimated noise levels of carrier phases are analysed with respect to different parameters. We find DD noise levels for L1 carrier phase observations in the range of 1.4–2 mm (GPS, Global Positioning System), 2.8–4.6 mm (GLONASS, Global Navigation Satellite System), and 1.5–1.7 mm (Galileo) for geodetic receiver pairs. The noise level for high sensitivity receivers is at least higher by a factor of 2. For satellites elevating above 30 ◦, the dominant noise process is white phase noise. For the flight experiment, the elevation dependency of the noise is well described by the exponential model, while for the terrestrial urban experiment, multipath and diffraction effects overlay; hence no elevation dependency is found. For both experiments, a carrier-to-noise density ratio (C/N 0) dependency for carrier phase DDs of GPS and Galileo is clearly visible with geodetic-grade receivers. In addition, C/N 0 dependency is also visible for carrier phase DDs of GLONASS with geodetic-grade receivers for the terrestrial urban experiment.

KW - Double difference

KW - Geodetic and high sensitivity GNSS receivers

KW - Global Navigation Satellite System (GNSS)

KW - Kinematic terrestrial and flight experiment

KW - Relative positioning

KW - Stochastic models

UR - http://www.scopus.com/inward/record.url?scp=85088252222&partnerID=8YFLogxK

U2 - 10.3390/s20144046

DO - 10.3390/s20144046

M3 - Article

VL - 20

JO - Sensors

JF - Sensors

SN - 1424-8220

IS - 14

M1 - 4046

ER -