For the last two decades,low-cost Global Navigation Satellite System(GNSS)receivers have been used in various applications.These receivers are mini-size,less expensive than geodetic-grade receivers,and in high demand....For the last two decades,low-cost Global Navigation Satellite System(GNSS)receivers have been used in various applications.These receivers are mini-size,less expensive than geodetic-grade receivers,and in high demand.Irrespective of these outstanding features,low-cost GNSS receivers are potentially poorer hardwares with internal signal processing,resulting in lower quality.They typically come with low-cost GNSS antenna that has lower performance than their counterparts,particularly for multipath mitigation.Therefore,this research evaluated the low-cost GNSS device performance using a high-rate kinematic survey.For this purpose,these receivers were assembled with an Inertial Measurement Unit(IMU)sensor,which actively transmited data on acceleration and orientation rate during the observation.The position and navigation parameter data were obtained from the IMU readings,even without GNSS signals via the U-blox F9R GNSS/IMU device mounted on a vehicle.This research was conducted in an area with demanding conditions,such as an open sky area,an urban environment,and a shopping mall basement,to examine the device’s performance.The data were processed by two approaches:the Single Point Positioning-IMU(SPP/IMU)and the Differential GNSS-IMU(DGNSS/IMU).The Unscented Kalman Filter(UKF)was selected as a filtering algorithm due to its excellent performance in handling nonlinear system models.The result showed that integrating GNSS/IMU in SPP processing mode could increase the accuracy in eastward and northward components up to 68.28%and 66.64%.Integration of DGNSS/IMU increased the accuracy in eastward and northward components to 93.02%and 93.03%compared to the positioning of standalone GNSS.In addition,the positioning accuracy can be improved by reducing the IMU noise using low-pass and high-pass filters.This application could still not gain the expected position accuracy under signal outage conditions.展开更多
GNSS观测时间序列包含复杂的非线性构造运动,如地面质量荷载、模型残差、周围环境因素等。由于环境因素的复杂性,季节性信号可能具备准周期时变的特征,传统的时间序列分析模型很难模型化。因此,可以采用一种双向长短期记忆(Bidirectiona...GNSS观测时间序列包含复杂的非线性构造运动,如地面质量荷载、模型残差、周围环境因素等。由于环境因素的复杂性,季节性信号可能具备准周期时变的特征,传统的时间序列分析模型很难模型化。因此,可以采用一种双向长短期记忆(Bidirectional Long Short-Term Memory,BiLSTM)循环神经网络与变分模态分解(Variational Mode Decomposition,VMD)联合的信号重构方法。首先利用VMD强大的分解能力将GNSS信号进行频域剖分并将其分为多项子信号和噪声项,再基于BiLSTM强大的学习能力对GNSS信号进行训练建模。结果表明,BiLSTM+VMD模型能充分挖掘信号的时频域特征,提高信号重构的精度和稳定性,GNSS N、E、U三分量重构结果均方根误差(Root Mean Squared Error,RMSE)都表现出不同程度的降低,尤其水平方向效果更为显著,相比EMD与VMD方法,E方向离散度分别降低了61%和19%,N方向离散度分别降低了20%和14%。这为GNSS观测时间序列中信号提取与模型参数估计提供了一个有价值的模型。展开更多
基金funded by the project scheme of the Publication Writing-IPR Incentive Program(PPHKI)2022Directorate of Research and Community Service(DRPM)Institut Teknologi Sepuluh Nopember(ITS)Surabaya,Indonesia for the financial supports。
文摘For the last two decades,low-cost Global Navigation Satellite System(GNSS)receivers have been used in various applications.These receivers are mini-size,less expensive than geodetic-grade receivers,and in high demand.Irrespective of these outstanding features,low-cost GNSS receivers are potentially poorer hardwares with internal signal processing,resulting in lower quality.They typically come with low-cost GNSS antenna that has lower performance than their counterparts,particularly for multipath mitigation.Therefore,this research evaluated the low-cost GNSS device performance using a high-rate kinematic survey.For this purpose,these receivers were assembled with an Inertial Measurement Unit(IMU)sensor,which actively transmited data on acceleration and orientation rate during the observation.The position and navigation parameter data were obtained from the IMU readings,even without GNSS signals via the U-blox F9R GNSS/IMU device mounted on a vehicle.This research was conducted in an area with demanding conditions,such as an open sky area,an urban environment,and a shopping mall basement,to examine the device’s performance.The data were processed by two approaches:the Single Point Positioning-IMU(SPP/IMU)and the Differential GNSS-IMU(DGNSS/IMU).The Unscented Kalman Filter(UKF)was selected as a filtering algorithm due to its excellent performance in handling nonlinear system models.The result showed that integrating GNSS/IMU in SPP processing mode could increase the accuracy in eastward and northward components up to 68.28%and 66.64%.Integration of DGNSS/IMU increased the accuracy in eastward and northward components to 93.02%and 93.03%compared to the positioning of standalone GNSS.In addition,the positioning accuracy can be improved by reducing the IMU noise using low-pass and high-pass filters.This application could still not gain the expected position accuracy under signal outage conditions.
文摘GNSS观测时间序列包含复杂的非线性构造运动,如地面质量荷载、模型残差、周围环境因素等。由于环境因素的复杂性,季节性信号可能具备准周期时变的特征,传统的时间序列分析模型很难模型化。因此,可以采用一种双向长短期记忆(Bidirectional Long Short-Term Memory,BiLSTM)循环神经网络与变分模态分解(Variational Mode Decomposition,VMD)联合的信号重构方法。首先利用VMD强大的分解能力将GNSS信号进行频域剖分并将其分为多项子信号和噪声项,再基于BiLSTM强大的学习能力对GNSS信号进行训练建模。结果表明,BiLSTM+VMD模型能充分挖掘信号的时频域特征,提高信号重构的精度和稳定性,GNSS N、E、U三分量重构结果均方根误差(Root Mean Squared Error,RMSE)都表现出不同程度的降低,尤其水平方向效果更为显著,相比EMD与VMD方法,E方向离散度分别降低了61%和19%,N方向离散度分别降低了20%和14%。这为GNSS观测时间序列中信号提取与模型参数估计提供了一个有价值的模型。
