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A PPP baseline approach for bridge passing

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Języki publikacji
EN
Abstrakty
EN
Global Navigation Satellite Systems (GNSS) are increasingly used as the main source of Positioning, Navigation and Timing (PNT) information for inland water navigation. In order to enable automated driving and facilitate driver assistant functions, it becomes of crucial importance to ensure high reliability and accuracy of the GNSS-based navigation solution, especially in challenging environments. One challenging phase of inland waterway navigation is bridge passing which leads to non-line-of-sight (NLOS) effects such as multipath and loss of tracking. This work presents a Precise Point Positioning (PPP) based algorithm in a two-antenna system where one antenna is at the bow and the other is at the stern. Additionally, gyroscope data from an IMU is used. In contrast to a separated position calculation of the two antennas, only one antenna position is estimated and the other is derived from the baseline between the antennas. This allows for accurate positioning even if one antenna does not receive any GNSS measurements. The presented scheme is evaluated using real measurement data from an inland water scenario with multiple bridges. In comparison with a standard PPP scheme as well as an RTK algorithm, the presented approach shows clear advantages in challenging scenarios.
Twórcy
autor
  • German Aerospace Centre (DLR), Neustrelitz, Germany
Bibliografia
  • [1] A. Hesselbarth, D. Medina, R. Ziebold, M. Sandler, M. Hoppe, and M. Uhlemann, Enabling Assistance Functions for the Safe Navigation of Inland Waterways. IEEE Intelligent Transportation Systems Magazine 2020, 12, 123–135. https://doi.org/10.1109/MITS.2020.2994103.
  • [2] J.F. Zumberge, M.B. Heflin, D.C. Jefferson, M.M. Watkins and F.H. Webb, Precise point positioning for the efficient and robust analysis of GPS data from large networks. Journal of Geophysical Research: Solid Earth 1997, 102, 5005–5017. https://doi.org/10.1029/96JB03860.
  • [3] G. Wuebbena, M. Schmitz and A. Bagge, PPP-RTK: Precise Point Positioning Using State-Space Representation in RTK Networks. In Proceedings of the 18th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS), 2005, pp. 2584 – 2594.
  • [4] X. An, R. Ziebold and C. Lass, From RTK to PPP-RTK: towards real-time kinematic precise point positioning to support autonomous driving of inland waterway vessels. GPS Solutions 27, 86 (2023). https://doi.org/10.1007/s10291-023-01428-2.
  • [5] I. Vierhaus, A. Born and D. Minkwitz, Challenges to PNT and driver assistance systems in inland water. In Proceedings of the The 14th IAIN Congress 2012 Seamless Navigation (Challenges & Opportunities). IAIN, 2012, pp. 1–10.
  • [6] D. Medina, H. Li, J. Vilà-Valls and P. Closas, Robust Filtering Techniques for RTK Positioning in Harsh Propagation Environments. Sensors 2021, 21. https://doi.org/10.3390/s21041250.
  • [7] C. Lass, D. Medina, M. Romanovas, I. Herrera-Pinzón and R. Ziebold, Methods of Robust Snapshot Positioning in Multi-Antenna Systems for Inland water Applications. In Proceedings of the European Navigation Conference (ENC), 2016.
  • [8] D. Medina, J. Vilà-Valls, A. Hesselbarth, R. Ziebold and J. García, On the Recursive Joint Position and Attitude Determination in Multi-Antenna GNSS Platforms. Remote Sensing 2020, 12. https://doi.org/10.3390/rs12121955.
  • [9] T. Kersten, L. Ren and S. Schön, A Virtual Receiver Concept for Continuous GNSS based Navigation of Inland Vessels. In Proceedings of Navitec 2018, 5.-7. December 2018, Noordwijk, The Netherlands. https://doi.org/10.15488/3898.
  • [10] R. Ziebold, M. Romanovas and L. Lanca, Evaluation of a Low Cost Tactical Grade MEMS IMU for Maritime Navigation. In Activities in Navigation; Weintritt, A., Ed.; Marine Navigation and Safety of Sea Transportation, CRC Press, 2015, pp. 237–246.
  • [11] R.E. Kalman, A New Approach to Linear Filtering and Prediction Problems, Transactions of the ASME--Journal of Basic Engineering 1960, 82, pp. 35-45.
  • [12] I. Fernandez-Hernandez, A. Chamorro-Moreno, S. Cancela-Diaz, J. Calle-Calle, P. Zoccarato, D. Blonski, T. Senni, F. Blas, C. Hernández, J. Simón and et al., Galileo high accuracy service: initial definition and performance. GPS Solutions 2022, 26. https://doi.org/10.1007/s10291-022-01247-x.
  • 13] M. Caissy, L. Agrotis, G. Weber, M. Pajares and U. Hugentobler, The international GNSS real-time service. GPS World 2012, 23, pp. 52–58.
  • [14] J. Boehm, and H. Schuh, Vienna Mapping Functions. In Proceedings of the Conference: 16th EVGA Working Meeting, 2003.
  • [15] C. Lass, and R. Ziebold, Development of Precise Point Positioning Algorithm to Support Advanced Driver Assistant Functions for Inland Vessel Navigation. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation 2021, 15, 781–789. https://doi.org/10.12716/1001.15.04.09.
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  • [17] J. Sanz Subirana, J.M. Juan Zornoza and M. Hernández-Pajares, GNSS Data Processing, Vol. I: Fundamentals and Algorithms; ESA Communications, 2013.
  • [18] T. Takasu, and A. Yasuda, Development of the low-cost RTK-GPS receiver with an open source program package RTKLIB. In Proceedings of the International Symposium on GPS/GNSS, International Convention Center Jeju, Korea, 2009.
  • [19] SCIPPPER. Schleusenassistenzsystem basierend auf PPP und VDES fuer die Binnenschifffahrt. http://scippper.de. [Accessed 04-October-2022].
  • [20] SCIPPPER. Schleusenassistenzsystem basierend auf PPP und VDES fuer die Binnenschifffahrt. https://www.youtube.com/watch?v=CFU7MZWXP8I. [Accessed 12-October-2022, from 09:19 onwards].
  • [21] C. Bruyninx, J. Legrand, A. Fabian, and et al., GNSS metadata and data validation in the EUREF Permanent Network. GPS Solutions 2022, 23, 106, 2019. https://doi.org/10.1007/s10291-019-0880-9.
Uwagi
Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-9dbefdf2-0731-43cd-8f8e-43697361c0fc
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