Advertisement

KSCE Journal of Civil Engineering

, Volume 9, Issue 3, pp 261–270 | Cite as

High accuracy of GPS/pseudolite/INS integration: Carrier phase measurement processing issues

  • Hung-Kyu Lee
  • Woon-Young Park
Surveying and Geo-Spatial Information Engineering

Abstract

This paper addresses solutions to the challenges of carrier phase integer ambiguity resolution and cycle slip detection/ identification, for maintaining high accuracy of an integrated GPS/Pseudolite/INS system. Such a hybrid positioning and navigat ion system is an augmentation of standard GPS/INS systems in localized areas. To achieve the goal of high accuracy, the carrier phase measurements with correctly estimated integer ambiguities must be utilized to update the system integration filter's states. The occurrence of a cycle slip that is undetected is, however, can significantly degrade the filter's performance. This contribution presents an effective approach to increase the reliability and speed of integer ambiguity resolution through using pseudolite and INS measurements, with special emphasis on reducing the ambiguity search space. In addition, an algorithm which can effectively detect and correct the cycle slips is described as well. The algorithm utilizes additional position information provided by the INS, and applies a statistical technique known as the cumulative-sum (CUSUM) test that is very sensitive to abrupt changes of mean values. Results of simulation studies and field tests indicate that the algorithms are performed pretty well, so that the accuracy and performance of the integrated system can be maintained, even if cycle slips exist in the raw GPS measurements.

Keywords

ambiguity resolution carrier phase cycle slip GPS/Pseudolite/INS integration 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Altmayer, C. (2000). “Enhancing the integrity of integrated GPS/INS system by cycle slip detection and correction.”Proc. the IEEE Intelligent Vehicles Symposium, Dearborn, Miami, pp. 174–179.Google Scholar
  2. Bar-Itzhak, I. and Berman, N. (1988). Control theoretic approach to Intertial Navigation System.Journal of AIAA Guidance, Control, and Dynamics, Vol. 11, No. 3, pp. 237–245.CrossRefGoogle Scholar
  3. Bassevile, M. (1998). “Detecting changes in signals and systems—a survey.”Automatica, Vol. 24, No. 3, pp. 309–326.CrossRefGoogle Scholar
  4. Basseville, M. and Nikiforov, V. (1993).Detection of Abrupt Changes—Theory and Applications, Prentice Hall, New Jersey, pp. 441.Google Scholar
  5. Counselman, C.C. and Abbot, R. (1989). “Method of resolving radio phase ambiguity in satellite orbit determination.”J. Geophysical Research, Vol. 94, pp. 7058–7064.CrossRefGoogle Scholar
  6. De Jonge, P.J. and Tiberius, C.C.J.M. (1996).The LAMBDA Method for Integer Ambiguity Estimation: Implementation Aspects, Delft Geodetic Computing Center LGR Series, No. 12, Delft University of Technology, pp. 49.Google Scholar
  7. Farrell, R.A. and Barth, M. (1998).The Global Positioning System & Inertial Navigation and Integration, McGraw-Hill, New York, pp. 340.Google Scholar
  8. Han, S. (1997).Carrier phase-Based Long-Range GPS Kinematic Positioning, PhD Dissertation, School of Surveying and Spatial Information Systems, The University of New South Wales, Sydney, Australia, pp. 185.Google Scholar
  9. Hawkins, M.D. and Olwell, D.H. (1998).Cumulative Sum Charts and Charting for Quality Improvement (Statistics for engineering and physical science), Berlin/Heidelberg: Springer Verlag, pp. 247.MATHGoogle Scholar
  10. Hofmann-Wellenhof, Lichtenegger, B.H., and Collins, J. (2001).GPS Theory and Practice, 5th Edition, Springer-Verlag, Wien, pp. 382.Google Scholar
  11. Lee, H.K., Wang, J., Rizos, C., and Grejner-Brzezinska, D. (2002). “GPS/Pseudlite/INS integration: Concept and first tests.”GPS Solutions, Vol. 6, No. 1–2, pp. 34–46.CrossRefGoogle Scholar
  12. Lee, H.K. (2002). “GPS/Pseudolite/SDINS integration approach for kinematic applications.”Proc. 15th Int. Tech. Meeting of the Satellite Division of the U.S. Inst. of Navigation, Portland, Oregan, pp. 1464–1473.Google Scholar
  13. Lee, H.K., Wang, J., Rizos, C., Li, B., and Park, W.Y. (2003). “Effective cycle slip detection and identification for high accuracy integrated GPS/INS positioning.”Proc. 6th Int. Symp. on Satellite Navigation Technology Including Mobile Positioning & Location Services, Melbourne, Australia, CD-Rom Proc., pp. 43.Google Scholar
  14. Mertikas, S.P. (2001). “Automatic and on-line detection of small but persistent shifts in GPS station coordinates and statistical process control.”GPS Solutions, Vol. 5, No. 1, pp. 39–50.CrossRefGoogle Scholar
  15. Mertikas, S.P. and Rizos, C. (1997). “Online detection of abrupt changes in the carrier phase measurements of GPS.”J. Geodesy, Vol. 71, pp. 469–482.CrossRefGoogle Scholar
  16. Rizos, C. (1996).Principles and Practice of GPS Surveying, School of Surveying and Spatial Information Systems, The University of New South Wales, Sydney, Australia, pp. 555.Google Scholar
  17. Rizos, C. (1999).Quality Issues in Real-time GPS Positioning, Final Report of the IAG SSG 1.154, (http://www.gmat.unsw.edu.au/ssg_RTQC/ssg_rtqc.pdf).Google Scholar
  18. Savage, P.G. (2000).Strapdown Analytics: Part I, Strapdown, Associates, Inc., pp. 773.Google Scholar
  19. Teunissen, P.J.G. (1993). “A new method for fast carrier phase ambiguity estimation.”Proc. IEEE Position, Location and Navigation Symp.: PLANS 94, Las Vegas, pp. 562–573.Google Scholar
  20. Teunissen, P.J.G. (1997). “A canonical theory for short GPS baselines (Part I–IV).”J. Geodesy, Vol. 71, pp. 320–336, 389–401, 486–501, 513–525.MATHCrossRefGoogle Scholar
  21. Wang, J., Stewart, M.P., and Tsakiri, M. (1998). “A discrimination test procedure for ambiguity resolution on-the-fly.”J. Geodesy, Vol. 72, pp. 644–653.MATHCrossRefGoogle Scholar
  22. Wang, J. (1999).Modelling and Quality Control for Precise GPS and GLONASS Satellite Positioning, PhD Dissertation, Curtin University of Technology, Perth, Australia, pp. 171.Google Scholar
  23. Wang, J., Lee, H.K., Hewitson, S, Rizos, C., and Barnes, J. (2003). “Sensitivity analysis for GNSS integer carrier phase ambiguity validation test.”XXIIIth General Assembly of the IUGG, Sapporo, Japan.Google Scholar

Copyright information

© KSCE and Springer jointly 2005

Authors and Affiliations

  1. 1.Department of Civil EngineeringChangwon National UniversityKorea
  2. 2.School of Ocean and Civil EngineeringDong-A UniversityKorea

Personalised recommendations