Abstract
Previous research contributions have addressed the definition of a Cramer Rao Lower Bound (CRLB) to investigate the performance of hybrid positioning algorithms that exploit satellite-based range measurements and independent terrestrial range measurements. Starting from such results, this work investigates the quantity of information carried by terrestrial relative measurements obtained from the combination of satellite-based range measurements shared among pairs of connected agents. The study is conceived to investigate the impact of such relative ranges on the positioning error when they are used as additional measurements to help improving accuracy and precision of positioning. By considering some prior knowledge about satellite-to-user and user-to-user ranging uncertainties, the approximation of a theoretical limit for this novel class of hybrid positioning algorithms allows to observe when the use of cooperative ranges is beneficial, depending on their variance and on the geometry of satellites and terrestrial agents.
Highlights
P REVIOUS works in the field of collaborative positioning demonstrated that the estimation of the positioning solution can be improved by merging different range information from known reference points such as satellites, terrestrial anchors, peer agents and signals of opportunity [1]–[5]
In [7], [8] the authors first investigate the problem for sensor networks applications, in [9], [10] an exhaustive theoretical analysis on the topic is provided for networks of cooperative users and in [11] the authors have derived the Cramer Rao Lower Bound (CRLB) for generic hybrid cooperative solutions
The amount of information carried by an observed unbiased range measurement w.r.t. the estimated position is related to the relative position of the reference points and to the quality of the observable measurements [26]
Summary
P REVIOUS works in the field of collaborative positioning demonstrated that the estimation of the positioning solution can be improved by merging different range information from known reference points such as satellites, terrestrial anchors, peer agents and signals of opportunity [1]–[5]. The amount of information carried by an observed unbiased range measurement w.r.t. the estimated position is related to the relative position of the reference points and to the quality of the observable measurements [26] The goodness of this information is inversely proportional to the variance of the measurement error itself. The analysis presented in [19] investigates a composite dilution of precision for cooperative positioning, named Collaborative Dilution Of Precision (CDOP), by including generic terrestrial ranging contributions in the measurements set available for the computation of the position. The study provides a demonstration of a fundamental result by stating that CDOP ≤ GDOP As it has been demonstrated for satellite-based navigation, any additional range contribution provided w.r.t. terrestrial reference points cannot increase the geometrical dilution factor. The analysis of the CRLB for a position estimator allows to include all the measurements uncertainties in the evaluation of the profitability of GNSS-based hybrid collaborative navigation
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.
