Hatch Filter Research Articles

Novel adaptive Hatch filter to mitigate the effects of ionosphere and multipath on LAAS

Novel adaptive Hatch filter to mitigate the effects of ionosphere and multipath on LAAS

Nonlinear Filtering in GNSS Pseudorange Dynamics Estimation Combining Code Delay and Carrier Phase

In Global Navigation Satellite System (GNSS) receivers, code delay measurements yield unambiguous but noisy pseudorange estimates. On the other hand, the pseudorange obtained with carrier phase measurements is almost noiseless, but is affected by an ambiguity term multiple of the carrier wavelength. In this paper, we propose a structure for code and carrier phase estimation and a novel technique to merge those estimates. The overall architecture consists of 1) a bank of correlators, each one feeding an extended Kalman filter, 2) an interpolation algorithm to produce the best code delay and carrier phase estimates, and 3) a nonlinear filter that combines these estimates to reduce progressively the phase ambiguity, yielding precise pseudorange estimates in high dynamics scenarios and in the presence of weak signals. The proposed approach is able to accommodate the majority of the new GNSS signals (modernized GPS and Galileo), produces smaller mean square errors than the conventional code/phase merge technique (Hatch filter), is robust to transients that may affect the phase estimation during the reception of weak signals, and is free from false code-locks.

A New Optimal Hatch Filter to Minimize the Effects of Ionosphere Gradients for GBAS

At present, the main problem faced by ground-based augment system (GBAS) is that though carrier smoothing filter and local differential global positioning system (LDGPS) improve the accuracy of the pseudorange by reducing the noise in it and eliminating almost all the common errors between the user and the reference station, they also cause extra errors on account of the effects of the ionosphere temporal and spatial gradients. Based on the analysis of these errors as well as the smoothing noise, this article suggests a new algorithm to design the optimal Hatch filter, whose smoothing window width varies real-time with the satellite elevation, ionosphere variation, and distance from the user to the reference station. By conducting the positioning process in the GBAS emulation platform for several hours and after its comparison with the performances of traditional Hatch filters, it is found that the errors in the differential correction become smaller and the positioning accuracy gets heightened with this new method.

Optimal Hatch Filter with an Adaptive Smoothing Window Width

The Hatch filter is a code-smoothing technique using integrated carrier phase observations. It is an easy technique that non-experts can use to reduce receiver noise on the pseudorange. This paper suggests a new algorithm for the optimal Hatch filter whose smoothing window width varies adaptively depending on the regional, diurnal and seasonal ionospheric variation and satellite elevation angle. We consider both quiet and storm conditions of the ionosphere. Using the well-known quiet ionospheric model, a conservative boundary value for ionospheric storm and the receiver noise statistics function of the satellite elevation angle, this algorithm can mathematically solve the optimal averaging constant for each satellite in every epoch. From a 24 hr data process result and real-time experiment, we found that the position accuracy of the optimal Hatch filter is better and more robust than that of the traditional Hatch filter. The optimal Hatch filter algorithm and its results are expected to provide a new solution for a single-frequency DGPS receiver and a thorough understanding of the relationship between the position error and the averaging constant. Furthermore, a DGPS user who applies this algorithm to a low-cost single-frequency receiver can obtain a more accurate and robust position result than via the classical Hatch filter.

Optimal carrier-smoothed-code algorithm for dual-frequency GPS data

Carrier-smoothed-code (CSC) algorithm is an effective pseudorange multipath mitigation technique, which can alleviate the computational burden and reduce the communication bandwidth needed for the transmission of GPS observations. This paper presents an improved Hatch filter and addresses the optimal CSC algorithm for dual-frequency GPS data based on the optimal parameter estimation theory. The smoothed observations have the same information content as that of the raw dual-frequency GPS data from which these are derived. Consequently, the optimal CSC algorithm is equivalent to the uncombined algorithm. Theoretical analyses show that the data precision of the optimal CSC algorithm is better than that of Hatch filter and its improved version.

Position-domain Hatch filter for kinematic differential GPS/GNSS

Motivated by the accuracy benefit of the Hatch gain compared with the Kalman-type gain and the advantage of position-domain (PD) filtering compared with range-domain (RD) filtering under frequent changes in visible satellite set, this paper proposes a PD Hatch filter for kinematic differential satellite-based positioning. It is shown that the Hatch gain generates white residual sequence in both the RD and the PD. An experiment result demonstrates that the proposed PD Hatch filter is advantageous in real-time kinematic positioning.

실시간 동적 차분 위성항법을 위한 위치영역 Hatch 필터의 성능 해석

Performance characteristics of the position-domain Hatch filter is analyzed for differential global navigation satellite systems. It is shown that the position-domain Hatch filter generates white measurement residual sequences, which is beneficial property for fault detection. It is also shown that the position-domain Hatch filter yields more accurate a priori state estimate than the position-domain Kalman-type filter. Thus, it can be concluded that the position-domain Hatch filter is beneficial in wide application areas where fault-tolerance and accuracy are required at the same time.

실시간 동적 위성항법을 위한 단일차분 위치영역 Hatch 필터의 설계

본 논문에서는 위상평활화코드 기법에 기반한 실시간 동적 차분위성항법의 효율적인 구현을 위하여 위치영역 Hatch 필터를 새로이 제안하고 그 성능을 분석하였다. 제안된 위치영역 Hatch 필터는 기존의 거리영역 Hatch를 새로운 각도에서 해석하고 이를 연장하여 유도되었다. 시뮬레이션을 통하여 Hatch 이득이 Kalman 형 이득보다 더 효율적이며 또한 위성의 출몰이 빈번한 환경에서는 위치영역 Hatch 필터가 거리영역 Hatch 필터보다 유리함을 보였다. A position domain Hatch filter is proposed as an efficient carrier-smoothed-code processing algorithm for real-time kinematic differential global satellite navigation systems. The well-known range domain Hatch filter is newly interpreted with a stochastical point of view. The interpretation result is extended to derive the position domain Hatch filter. By a covariance simulation, it is shown that Hatch gain is, in general, more efficient than Kalman-type gain in carrier-smoothed-code processing and the proposed position domain Hatch filter is more advantageous than the conventional range domain Hatch filter if the visible satellite constellation changes during the positioning task.

Performance Analysis of Korean WADGPS Algorithms with NDGPS Data

To provide more accurate and reliable positioning and timing services to Korean nationwide users, the Ministry of Maritime Affairs and Fisheries of Korea is implementing Korean NDGPS (Nationwide DGPS), which is operational partly. And it also has a plan to construct WADGPS (Wide Area Differential GPS) system using sites and equipments of the NDGPS reference stations. For that, Seoul National University GNSS Laboratory is implementing and testing prototypes of WRS (Wide-area Reference Station) and WMS (Wide-area Master Station). Until now, because there are not enough installed WRSs to be used for computing wide area correction information, we cannot test algorithms of WMS with the data processed actually in WRSs. Therefore to evaluate the performance of the algorithms, we made a MATLAB program which can process RINEX (Receiver INdependent Exchange) format data with WADGPS algorithm. Using that program which consists of WRS, WMS and USER modules, we processed the data collected at NDGPS reference stations, which are saved in RINEX format. In WRS module, we eliminate the atmospheric delay error from the pseudorange measurement, smooth the measurement by hatch filter and calculate pseudorange corrections for each satellite. WMS module collects the processed data from each reference stations to generate the wide area correction information including estimated satellite ephemeris errors, ionospheric delays at each grid point, UDRE (User Differential Range Error), GIVE (Grid Ionosphere Vertical Error) and so on. In USER part, we use the measurements of reference stations as those of users and estimate the corrected users' positions and protection levels (HPL, VPL). With the results of estimation, we analyzed the performance of the algorithms. We assured the estimated UDRE /GIVE values and the protection levels bound the corresponding errors effectively. In this research, we can expect the possible performance of WADGPS in Korea, and the developed modules will be useful to implementation and improvement of the algorithms.

Quality Control Algorithms on WAAS Wide-Area Reference Stations

The Wide-Area Augmentation System (WAAS) will be a supplemental navigation aid for all phases of flight down to Category I precision approach, and eventually will be a primary navigation aid. This paper introduces a weighted Hatch filter, a very simple and practical filter for use in generating confidence values and improving the quality of the wide-area reference station (WRS) outputs. The paper also introduces a new real-time filter for estimating the velocity of ionospheric time delay with an accuracy of better than 0.2 mm/s using L1 and L2 continuous carrier phases. The filter can be used for detection of even a half-cycle slip and in the cycle slip recovery process. The technique can be applied to both mobile and static users.