Details
| Original language | English |
|---|---|
| Pages (from-to) | 1397–1415 |
| Journal | Journal of Navigation |
| Volume | 74 |
| Issue number | 6 |
| Early online date | 7 Nov 2021 |
| Publication status | Published - Nov 2021 |
Abstract
In urban areas, the Global Navigation Satellite System (GNSS) can lead to position errors of tens of meters due to signal obstruction and severe multipath effects. In cases of 3D-positioning, the vertical coordinate is estimated less accurately than are the horizontal coordinates. Multisensor systems can enhance navigation performance in terms of accuracy, availability, continuity and integrity. However, the addition of multiple sensors increases the system cost, and thereby the applicability to low-cost applications is limited. By using the concept of receiver clock modelling (RCM), the position estimation can be made more robust; the use of high-sensitivity (HS) GNSS receivers can improve the system availability and continuity. This paper investigates the integration of a low-cost HS GNSS receiver with an external clock in urban conditions; subsequently, the gain in the navigation performance is evaluated. GNSS kinematic data is recorded in an urban environment with multiple geodetic-grade and HS receivers. The external clock stability information is incorporated through the process noise matrix in a Kalman filter when estimating the position, velocity and time states. Results shows that the improvement in the precision of the height component and vertical velocity with both receivers is about 70% with RCM compared with the estimates obtained without applying RCM. Pertaining accuracy, the improvement in height with RCM is found to be about 70% and 50% with geodetic and HS receivers, respectively. In terms of availability, the HS receiver delivers an 100% output compared with a geodetic receiver, which provides an output 99⋅4% of the total experiment duration.
Keywords
- Car navigation, clocks, GNSS, high accuracy
ASJC Scopus subject areas
- Earth and Planetary Sciences(all)
- Oceanography
- Engineering(all)
- Ocean Engineering
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In: Journal of Navigation, Vol. 74, No. 6, 11.2021, p. 1397–1415.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Performance evaluation of GNSS receiver clock modelling in urban navigation using geodetic and high-sensitivity receivers
AU - Jain, Ankit
AU - Schön, Steffen
N1 - Funding Information: This work has been funded by the German Federal Ministry for Economic Affairs and Energy following a resolution of the German Bundestag (project number: 50NA1705)
PY - 2021/11
Y1 - 2021/11
N2 - In urban areas, the Global Navigation Satellite System (GNSS) can lead to position errors of tens of meters due to signal obstruction and severe multipath effects. In cases of 3D-positioning, the vertical coordinate is estimated less accurately than are the horizontal coordinates. Multisensor systems can enhance navigation performance in terms of accuracy, availability, continuity and integrity. However, the addition of multiple sensors increases the system cost, and thereby the applicability to low-cost applications is limited. By using the concept of receiver clock modelling (RCM), the position estimation can be made more robust; the use of high-sensitivity (HS) GNSS receivers can improve the system availability and continuity. This paper investigates the integration of a low-cost HS GNSS receiver with an external clock in urban conditions; subsequently, the gain in the navigation performance is evaluated. GNSS kinematic data is recorded in an urban environment with multiple geodetic-grade and HS receivers. The external clock stability information is incorporated through the process noise matrix in a Kalman filter when estimating the position, velocity and time states. Results shows that the improvement in the precision of the height component and vertical velocity with both receivers is about 70% with RCM compared with the estimates obtained without applying RCM. Pertaining accuracy, the improvement in height with RCM is found to be about 70% and 50% with geodetic and HS receivers, respectively. In terms of availability, the HS receiver delivers an 100% output compared with a geodetic receiver, which provides an output 99⋅4% of the total experiment duration.
AB - In urban areas, the Global Navigation Satellite System (GNSS) can lead to position errors of tens of meters due to signal obstruction and severe multipath effects. In cases of 3D-positioning, the vertical coordinate is estimated less accurately than are the horizontal coordinates. Multisensor systems can enhance navigation performance in terms of accuracy, availability, continuity and integrity. However, the addition of multiple sensors increases the system cost, and thereby the applicability to low-cost applications is limited. By using the concept of receiver clock modelling (RCM), the position estimation can be made more robust; the use of high-sensitivity (HS) GNSS receivers can improve the system availability and continuity. This paper investigates the integration of a low-cost HS GNSS receiver with an external clock in urban conditions; subsequently, the gain in the navigation performance is evaluated. GNSS kinematic data is recorded in an urban environment with multiple geodetic-grade and HS receivers. The external clock stability information is incorporated through the process noise matrix in a Kalman filter when estimating the position, velocity and time states. Results shows that the improvement in the precision of the height component and vertical velocity with both receivers is about 70% with RCM compared with the estimates obtained without applying RCM. Pertaining accuracy, the improvement in height with RCM is found to be about 70% and 50% with geodetic and HS receivers, respectively. In terms of availability, the HS receiver delivers an 100% output compared with a geodetic receiver, which provides an output 99⋅4% of the total experiment duration.
KW - Car navigation
KW - clocks
KW - GNSS
KW - high accuracy
UR - http://www.scopus.com/inward/record.url?scp=85115140246&partnerID=8YFLogxK
U2 - 10.1017/S0373463321000710
DO - 10.1017/S0373463321000710
M3 - Article
AN - SCOPUS:85115140246
VL - 74
SP - 1397
EP - 1415
JO - Journal of Navigation
JF - Journal of Navigation
SN - 0373-4633
IS - 6
ER -