Abstract
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 , 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) dependency for carrier phase DDs of GPS and Galileo is clearly visible with geodetic-grade receivers. In addition, C/N dependency is also visible for carrier phase DDs of GLONASS with geodetic-grade receivers for the terrestrial urban experiment.
Highlights
Accuracy, precision and availability requirements are very stringent in urban navigation, advanced driver assistance system (ADAS) and autonomous driving
In order to meet these requirements at a few cm to dm level, Global Navigation Satellite System (GNSS) carrier phase observations must be used in a relative positioning mode [1]; the observations and their uncertainty must be modelled adequately in the positioning filter
In order to contribute to the GNSS carrier phase characterisation in kinematic applications, we present the performance analysis of carrier phase observations in kinematic terrestrial and aerial environments for high sensitivity and geodetic-grade GNSS receivers
Summary
Precision and availability requirements are very stringent in urban navigation, advanced driver assistance system (ADAS) and autonomous driving. A study considering correlation among observations with a diagonal covariance matrix shows a significant improvement in the positioning solution of the simulated and real data-set compared with positions estimated using a standard diagonal dependent elevation model [8]. A weighting model combining both elevation and C/N0 for both code and phase observations in open-sky and suburban scenarios for horizontal RTK positioning is explained in [14]. In order to contribute to the GNSS carrier phase characterisation in kinematic applications, we present the performance analysis of carrier phase observations in kinematic terrestrial and aerial environments for high sensitivity and geodetic-grade GNSS receivers. Based on the analyses of DDs, stochastic models of carrier-phase observations are derived for kinematic terrestrial and aerial applications in relation to the different environments and receiver types.
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