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Evaluation of Multi-Constellation GNSS Positioning Using Double Differenced Observations |
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Lawoo Kim, Yu Dam Lee, Taek Geun Lee, Hyung Keun Lee(Korea Aerospace University, Korea) |
| GNSS measurements contain several errors, including ionospheric delay, tropospheric delay, receiver clock bias, satellite clock bias, and multipath error. In the standalone positioning method, the ionosphere delay and tropospheric delay can be corrected using Klobuchar and Saastamoinen models, respectively. However, more accurate positioning is possible by the differencing method between the reference station and rover since it eliminates the delay factors. The fault detection and isolation (FDI) algorithm may not work properly if a jump in receiver clock bias occurs frequently. To evaluate the performance of the well-known double differencing method, vehicle driving test was conducted. |
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Effective Ground Mapping for Autonomous Excavation |
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Abdullah Rasul(Ontario Tech University, Canada), Amir Khajepour(University of Waterloo, Canada), Jaho Seo(Ontario Tech University, Canada) |
| Effective Ground Mapping for Autonomous Excavation
Abdullah Rasul1, Amir Khajepour2, and Jaho Seo1*
1 Department of Automotive and Mechatronics Engineering, Ontario Tech University,
Oshawa, L1G 0C5, Canada (abdullah.rasul@ontariotechu.net, jaho.seo@ontariotechu.ca) * Corresponding author
2 Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, N2L 3G1, Canada (akhajepour@uwaterloo.ca)
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A Data Fusion Algorithm of GNSS/INS/ Odometer Integrated System In Consideration of Total Odometer Errors |
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Mengxue Mu, Long Zhao(Beihang University, China) |
| The low cost GNSS/INS integrated system applied in the land vehicle can benefit from the information fusion of odometer and motion aided constraints. However, the performance of the fusion system is affected by four key issues. Firstly, odometer scale factor is not a constant value and differs with the change of temperature, tire pressure and vehicle load. Secondly, the odometer measures velocity in the vehicle body frame (VBF) rather than the inertial sensor frame, whereas misalignment between the inertial measurement unit (IMU) and the VBF generally exists. Thirdly, the IMU origin doesn’t coincide with the odometer origin, lever arm influences the position accuracy. Fourthly, poor road co |
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GPS Multipath Detection Based on Carrier-to-Noise-Density Ratio Measurements from a Dual-Polarized Antenna |
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Sanghyun Kim, Halim Lee, Kwansik Park(Yonsei University, Korea) |
| In this study, GPS multipath detection was performed based on C/N0 measured through a dual-polarized antenna. As the RHCP and LHCP antennas are sensitive to the direct and the single reflected GPS signals respectively, the C/N0 difference between the RHCP and LHCP measurements is used for multipath detection. Once we collected the GPS signals in a low multipath location, we calculated the C/N0 difference to obtain a threshold value that can be used to detect the multipath GPS signal received from another location. The results were validated through a ray-tracing simulation. |
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Development of an R-Mode Simulator Using MF DGNSS Signals |
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Suhui Jeong(Yonsei University, Korea), Pyo-Woong Son(KRISO, Korea) |
| With the development of positioning, navigation, and timing (PNT) information-based industries, various navigation studies have been actively conducted to back up global positioning system (GPS). Among them, the ranging mode (R-Mode) is a technology that uses available signals of opportunity (SoOP) and it has the advantage of infrastructure already being in place. In this paper, we developed a signal simulator that considers the characteristics of medium frequency (MF) differential global navigation satellite system (DGNSS) signals and skywaves used in R-Mode. |
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