Abstract
In this study, we developed a low-cost, high-precision vehicle navigation system for deep urban multipath environments using time-differenced carrier phase (TDCP) measurements. Although many studies are being conducted to navigate autonomous vehicles using the global positioning system (GPS), it is difficult to obtain accurate navigation solutions due to multipath errors in urban environments. Low-cost GPS receivers that determine the solution based on pseudorange measurements are vulnerable to multipath errors. We used carrier phase measurements that are more robust for multipath errors. Without correction information from reference stations, the limited information of a low-cost, single-frequency receiver makes it difficult to quickly and accurately determine integer ambiguity of carrier phase measurements. We used TDCP measurements to eliminate the need to determine integer ambiguity that is time-invariant and we combined TDCP-based GPS with an inertial navigation system to overcome deep urban multipath environments. Furthermore, we considered a cycle slip algorithm for its accuracy and a multi-constellation navigation system for its availability. The results of dynamic field tests in a deep urban area indicated that it could achieve horizontal accuracy of at the submeter level.
Highlights
Global interest in autonomous vehicle navigation has increased, with extensive studies being conducted by many companies and research institutions
We developed a new vehicle navigation system for a deep urban multipath environment using the time-differenced carrier phase (TDCP)/inertial navigation sensor (INS) filter proposed in a previous study [19]
We utilized time differencing on consecutive carrier phase measurements, which are robust to urban multipath errors, to eliminate the need to determine integer ambiguity that is time-invariant
Summary
Global interest in autonomous vehicle navigation has increased, with extensive studies being conducted by many companies and research institutions. Methods using carrier phase measurements, such as precise point positioning (PPP) and real-time kinematics (RTK), require an initial time and correction information from reference stations to quickly and accurately determine integer ambiguity [12,13,14]. We developed a low-cost, high-precision vehicle navigation system for deep urban multipath environments using time-differenced carrier phase measurements. This study suggests a navigation method using carrier phase measurements of low-cost, single-frequency GPS receivers, which are robust against multipath error. The cycle slip detection algorithm, which must be included in the use of carrier phase measurements, utilizes an INS-based method [18]. A low-cost, high-precision vehicle navigation system for deep urban multipath environments is constructed using the TDCP/INS system including all algorithms such as the new optimal KF model and the cycle slip detection method [20].
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
