PMID- 30669595
OWN - NLM
STAT- PubMed-not-MEDLINE
DCOM- 20190129
LR  - 20200225
IS  - 1424-8220 (Electronic)
IS  - 1424-8220 (Linking)
VI  - 19
IP  - 2
DP  - 2019 Jan 21
TI  - Robust Kalman Filter Aided GEO/IGSO/GPS Raw-PPP/INS Tight Integration.
LID - 10.3390/s19020417 [doi]
LID - 417
AB  - Reliable and continuous navigation solutions are essential for high-accuracy 
      location-based services. Currently, the real-time kinematic (RTK) based Global 
      Positioning System (GPS) is widely utilized to satisfy such requirements. 
      However, RTK's accuracy and continuity are limited by the insufficient number of 
      the visible satellites and the increasing length of base-lines between 
      reference-stations and rovers. Recently, benefiting from the development of 
      precise point positioning (PPP) and BeiDou satellite navigation systems (BDS), 
      the issues existing in GPS RTK can be mitigated by using GPS and BDS together. 
      However, the visible satellite number of GPS + BDS may decrease in dynamic 
      environments. Therefore, the inertial navigation system (INS) is adopted to 
      bridge GPS + BDS PPP solutions during signal outage periods. Meanwhile, because 
      the quality of BDS geosynchronous Earth orbit (GEO) satellites is much lower than 
      that of inclined geo-synchronous orbit (IGSO) satellites, the predicted 
      observation residual based robust extended Kalman filter (R-EKF) is adopted to 
      adjust the weight of GEO and IGSO data. In this paper, the mathematical model of 
      the R-EKF aided GEO/IGSO/GPS PPP/INS tight integration, which uses the raw 
      observations of GPS + BDS, is presented. Then, the influences of GEO, IGSO, INS, 
      and R-EKF on PPP are evaluated by processing land-borne vehicle data. Results 
      indicate that (1) both GEO and IGSO can provide accuracy improvement on GPS PPP; 
      however, the contribution of IGSO is much more visible than that of GEO; (2) 
      PPP's accuracy and stability can be further improved by using INS; (3) the R-EKF 
      is helpful to adjust the weight of GEO and IGSO in the GEO/IGSO/GPS PPP/INS tight 
      integration and provide significantly higher positioning accuracy.
FAU - Gao, Zhouzheng
AU  - Gao Z
AUID- ORCID: 0000-0001-7997-7719
AD  - School of Land Science and Technology, China University of Geosciences Beijing, 
      Beijing 100083, China. zhouzhenggao@126.com.
AD  - Shanxi Provincial Key Laboratory for Resources, Environment and Disaster 
      Monitoring, Jinzhong 030600, China. zhouzhenggao@126.com.
FAU - Li, You
AU  - Li Y
AD  - Department of Geomatics Engineering, University of Calgary, Calgary, AB T2N 1N4, 
      Canada. liyou331@gmail.com.
FAU - Zhuang, Yuan
AU  - Zhuang Y
AD  - State Key Laboratory of Information Engineering in Surveying, Mapping and Remote 
      Sensing, Wuhan University, Wuhan 430079, China. zhy.0908@gmail.com.
FAU - Yang, Honglei
AU  - Yang H
AD  - School of Land Science and Technology, China University of Geosciences Beijing, 
      Beijing 100083, China. yanghonglei226@126.com.
AD  - Shanxi Provincial Key Laboratory for Resources, Environment and Disaster 
      Monitoring, Jinzhong 030600, China. yanghonglei226@126.com.
FAU - Pan, Yuanjin
AU  - Pan Y
AD  - State Key Laboratory of Information Engineering in Surveying, Mapping and Remote 
      Sensing, Wuhan University, Wuhan 430079, China. yjpan@whu.edu.cn.
FAU - Zhang, Hongping
AU  - Zhang H
AD  - GNSS Research Center, Wuhan University, Wuhan 430079, China. hpzhang@whu.edu.cn.
LA  - eng
GR  - 41804027/National Natural Science Foundation of China (NSFC) for Young 
      Scientists/
GR  - 2016YFB0501804/National Key Research and Development Program of China/
PT  - Journal Article
DEP - 20190121
PL  - Switzerland
TA  - Sensors (Basel)
JT  - Sensors (Basel, Switzerland)
JID - 101204366
PMC - PMC6359615
OTO - NOTNLM
OT  - geosynchronous Earth orbit (GEO) satellites
OT  - inclined geo-synchronous orbit (IGSO) satellites
OT  - inertial navigation system (INS)
OT  - precise point positioning (PPP)
OT  - robust extended Kalman filter (R-EKF)
COIS- The authors declare no conflicts of interest.
EDAT- 2019/01/24 06:00
MHDA- 2019/01/24 06:01
PMCR- 2019/01/01
CRDT- 2019/01/24 06:00
PHST- 2018/12/14 00:00 [received]
PHST- 2019/01/11 00:00 [revised]
PHST- 2019/01/13 00:00 [accepted]
PHST- 2019/01/24 06:00 [entrez]
PHST- 2019/01/24 06:00 [pubmed]
PHST- 2019/01/24 06:01 [medline]
PHST- 2019/01/01 00:00 [pmc-release]
AID - s19020417 [pii]
AID - sensors-19-00417 [pii]
AID - 10.3390/s19020417 [doi]
PST - epublish
SO  - Sensors (Basel). 2019 Jan 21;19(2):417. doi: 10.3390/s19020417.