Abstract
The existence of colored noise in kinematic positioning will greatly degrade the accuracy of position solutions. This paper proposes a Kalman filter-based quad-constellation global navigation satellite system (GNSS) navigation algorithm with colored noise mitigation. In this algorithm, the observation colored noise and state colored noise models are established by utilizing their residuals in the past epochs, and then the colored noise is predicted using the models for mitigation in the current epoch in the integrated Global Positioning System (GPS)/GLObal NAvigation Satellite System (GLONASS)/BeiDou Navigation Satellite System (BDS)/Galileo navigation. Kinematic single point positioning (SPP) experiments under different satellite visibility conditions and road patterns are conducted to evaluate the effect of colored noise on the positioning accuracy for the quad-constellation combined navigation. Experiment results show that the colored noise model can fit the colored noise more effectively in the case of good satellite visibility. As a result, the positioning accuracy improvement is more significant after handling the colored noise. The three-dimensional positioning accuracy can be improved by 25.1%. Different satellite elevation cut-off angles of 10º, 20º and 30º are set to simulate different satellite visibility situations. Results indicate that the colored noise is decreased with the increment of the elevation cut-off angle. Consequently, the improvement of the SPP accuracy after handling the colored noise is gradually reduced from 27.3% to 16.6%. In the cases of straight and curved roads, the quad-constellation GNSS-SPP accuracy can be improved by 22.1% and 25.7% after taking the colored noise into account. The colored noise can be well-modeled and mitigated in both the straight and curved road conditions.
Highlights
The global navigation satellite system (GNSS) single point positioning (SPP) technology has been widely used in navigation since the advent of the Global Positioning System (GPS) [1,2]
To test the quad-constellation GNSS-SPP algorithm with mitigation of colored noise, a kinematic navigation experiment was conducted on March 28, 2018, in Changsha
The test started at the local time of 09:30:45 (GPS time of 01:30:45) and lasted for about 2 h, using a land vehicle that carried a Trimble Net R9 GNSS dual-frequency receiver, which can simultaneously collect datasets from quad-constellations of GPS, GLObal NAvigation Satellite System (GLONASS), BeiDou navigation satellite system (BDS), and Galileo with a sampling interval of 1 s
Summary
The global navigation satellite system (GNSS) single point positioning (SPP) technology has been widely used in navigation since the advent of the Global Positioning System (GPS) [1,2]. The stochastic model compensation filters include the adaptive filter based on Sage windowing weights and variance component [16], and the adaptive robust filter based on classified adaptive factor adjustment [17] Among these methods, the most straightforward way to deal with the colored noise is the state vector augmented filter [11,12], which models the colored noise as a constant or follows a variation rule at a certain time interval. SPP algorithm with colored noise mitigation is proposed In this algorithm, the models of the observation colored noise and state colored noise are established by applying a functional model fitting filter method, and the colored noises are compensated before the parameter estimation.
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