Multi-GNSS Precise Point Positioning with UWB Tightly Coupled Integration.

Zhenchuan Huang,Ke Su,Xu Tang,Shuanggen Jin

doi:10.3390/s22062232

Abstract

Global Navigation Satellite Systems (GNSSs) can provide high-precision positioning services, which can be applied to fields including navigation and positioning, autonomous driving, unmanned aerial vehicles and so on. However, GNSS signals are easily disrupted in complex environments, which results in a positioning performance with a significantly inferior accuracy and lengthier convergence time, particularly for the single GNSS system. In this paper, multi-GNSS precise point positioning (PPP) with tightly integrating ultra-wide band (UWB) technology is presented to implement fast and precise navigation and positioning. The validity of the algorithm is evaluated by a set of GNSS and UWB data. The statistics indicate that multi-GNSS/UWB integration can significantly improve positioning performance in terms of the positioning accuracy and convergence time. The improvement of the positioning performance for the GNSS/UWB tightly coupled integration mainly concerns the north and east directions, and to a lesser extent, the vertical direction. Furthermore, the convergence performance of GNSS/UWB solution is analyzed by simulating GNSS signal interruption. The reliability and robustness of GNSS/UWB solution during GNSS signal interruption is verified. The results show that multi-GNSS/UWB solution can significantly improve the accuracy and convergence speed of PPP.

Highlights

Global Navigation Satellite Systems (GNSSs), including USA’s Global PositioningSystem (GPS), Russia’s GLObal NAvigation Satellite System (GLONASS), China’s BeiDou Navigation Satellite System (BDS) and Europe’s Galileo [1], have been widely used in various fields, such as navigation and timing, geodesy, seismic monitoring and gravity field [2–6]
Chui et al [13] firstly applied Global PositioningSystem (GPS)/UWB tightly coupled integration in a complex urban environment, which indicated that the positioning error in the east direction was reduced from 5.43 cm to 2.61 cm
Precise Point Positioning (PPP) technology is introduced to overcome these disadvantages [23], which is a flexible and high-precision single-point positioning mode using the GNSS pseudo-range and carrier phase observations as well as satellite precise orbit and clock products provided by International GNSS Service (IGS) [24]

Summary

Introduction

System (GPS), Russia’s GLObal NAvigation Satellite System (GLONASS), China’s BeiDou Navigation Satellite System (BDS) and Europe’s Galileo [1], have been widely used in various fields, such as navigation and timing, geodesy, seismic monitoring and gravity field [2–6]. Precise Point Positioning (PPP) technology is introduced to overcome these disadvantages [23], which is a flexible and high-precision single-point positioning mode using the GNSS pseudo-range and carrier phase observations as well as satellite precise orbit and clock products provided by International GNSS Service (IGS) [24]. It relies only on one receiver for a user to realize the absolute positioning. UWB technology has a high sampling frequency and can achieve centimeter-level positioning accuracy over a short time, which can provide initial constraints for GNSS and accelerate PPP convergence.

GNSS Positioning System

S BGsys

UWB Positioning Method

Implementation of GNSS/UWB Algorithm

Experiments and Results

Experimental Description