Drone Localization using Global Navigation Satellite System and Separated Feature Visual Odometry Data Fusion

The study of climate change is an important field of research. Monitoring of atmospheric variability especially the tropospheric precipitable water vapor (PWV) is a powerful way to investigate climate change. Global navigation satellite systems (GNSS) provide a good tool for studying atmospheric parameters as GNSS signals along its path from the satellites to the ground based receivers suffer a significant delay due to the refractivity of earth’s atmosphere. GNSS signals are not only delayed but also refracted in the neutral atmosphere. The zenith wet delays (ZWD) caused by the troposphere can be estimated during the geodetic processing of GNSS signals. Since the ZWD is tightly correlated to the PWV, GNSS observations can be used to study the changes of PWV. In this study GNSS data from the Egyptian permanent GNSS network (EPGN), International GNSS Service (IGS), EUREF Permanent Network (EPN) and Scripps Orbit and Permanent Array Center (SOPAC), for the years 2013 and 2014, were used. These GNSS stations provided a good geometrical coverage over the respective region. All GNSS data were processed using Bernese V 5.2 software. The needed product from GNSS data processing is the tropospheric zenith total delay (ZTD) over each GNSS site. The ZTD is divided based on physical parameters into zenith hydrostatic delay (ZHD) and zenith wet delay (ZWD). The ZWD is the basic observable used to calculate PWV. The values of the PWV were calculated and its variation over the study area was investigated. The quality of calculated PWV values from GNSS data evaluated against traditional Radiosonde (RS) measurements. The results of GNSS PWV showed good agreement with RS PWV when the PWV values were low, but this agreement became worse at high PWV values as the differences between the two techniques increased. The correlation coefficient between RS PWV and GNSS PWV varied from 0.31 to 0.84. Standard deviation of the differences between RS PWV and GNSS PWV ranged from 2.369 to 5.973 mm. The PWV estimated from GNSS observations had annual cycle, and its cycle in 2013 was different from that in 2014. The PWV differences between the 2 years clarified that the water vapor content over the east Mediterranean in most of 2014 days was higher than that in 2013. Furthermore, PWV variations were noted on both temporal and spatial scales. The highest temporal variation value was 25.41 mm whereas the maximum value of the spatial variation was 19.67 mm. The present study illustrated the importance of using geodetic networks to provide atmospheric information.

Implementing the International GNSS Service 2021+ Strategic Plan: Vision and Use Cases

With the capability to record Global Navigation Satellite Systems (GNSS) data at high-rate, at sampling rates typical for seismological applications, experiments are needed to quantify the response of GNSS to shaking from earthquakes. There have been a few studies that examine the response of GNSS to strong shaking. Recently, Ebinuma and Kato (2012) used a global positioning system (GPS) simulator to electronically test several GNSS receivers and obtain the receiver characteristics at three frequencies: 1, 2, and 5 Hz. The results showed that the amplitude of 5-Hz displacements recorded by the GPS was, depending on the receiver model, between 30 and 125 percent more than the displacement input to the simulator. At low frequencies, the GPS displacement was nearly equal to the input displacement. In addition, Ebinuma and Kato (2012) examined how each receiver model amplified an earthquake displacement record in the 2–8 Hz band. The study discussed here builds on the tests by Ebinuma and Kato (2012), but rather than using electronic simulation, the tests are setup outdoors and closer to actual field installations of GNSS equipment. The authors used a one-dimensional shake table capable of 400 mm of displacement and high acceleration; the shake table also is constrained by a precision linear slider to have very low tilt that would affect inertial sensors. In addition, the stage position can be accurately monitored independent of the GNSS hardware and, importantly, provides a reference to compare with the estimated displacements from the GNSS data. The tests spanned a greater frequency range from 0.2 to 20 Hz and used equipment from three different manufacturers covering five different combinations of receivers and antennas. In addition, the authors have been able to simulate the frequency response of the GNSS equipment using a simple, causal filter. The quality of the filter was tested using additional test data where a step function in displacement was applied to the shake table. The observed displacements from the GNSS data show an overshoot in displacement at the time of the step or transition of the stage. That overshoot was accurately predicted using the filter design derived from the sinusoidal displacement tests.

This study proposes a new set of processing procedures based on the strain model and the Kalman filter (SM-Kalman) to obtain high-precision three-dimensional surface deformation time series from interferometric synthetic aperture radar (InSAR) and global navigation satellite system (GNSS) data. Implementing the Kalman filter requires the establishment of state and observation equations. In the time domain, the state equation is generated by fitting the pre-existing deformation time series based on a deformation model containing linear and seasonal terms. In the space domain, the observation equation is established with the assistance of the strain model to realize the spatial combination of InSAR and GNSS observation data at each moment. Benefiting from the application of the Kalman filter, InSAR and GNSS data at different moments can be synchronized. The time and measurement update steps are performed dynamically to generate a 3-D deformation time series with high precision and a high resolution in the temporal and spatial domains. Sentinel-1 SAR and GNSS datasets in the Los Angeles area are used to verify the effectiveness of the proposed method. The datasets include twenty-seven ascending track SAR images, thirty-four descending track SAR images and the daily time series of forty-eight GNSS stations from January 2016 to November 2018. The experimental result demonstrates that the proposed SM-Kalman method can produce high-precision deformation results at the millimeter level and provide two types of 3-D deformation time series with the same temporal resolution as InSAR or GNSS observations according to the needs of users. The new method achieves a high degree of temporal and spatial fusion of GNSS and InSAR data.

The fusion of global navigation satellite system (GNSS) and interferometric synthetic aperture radar (InSAR) deformation data can leverage the advantages of GNSS high temporal resolution and InSAR high spatial resolution, and obtain more abundant deformation data for constraints on geophysical structural and mechanical parameters. Existing studies seldom consider the spatial heterogeneity of largescale deformation data, which easily leads to obvious spatial aggregation of errors in the results of fusion. Here, we propose a novel multiresolution segmentation fusion (MRSF) method that uses a multiresolution segmentation algorithm to automatically classify the spatial heterogeneity of InSAR deformation data with similar deformation characteristics. We applied the MRSF method to the fusion of GNSS and InSAR deformation data covering the central valley aquifer system (CVAS) in southern California to verify its precision and robustness. Results show that the MRSF method can accurately reflect spatiotemporal evolution characteristics of displacement data and reliably estimate deformation for the times and locations of missing data. We then tested this method for geophysical parameter estimation by constructing three different sets of data, including dense GNSS sites, sparse GNSS sites, and sparse GNSS sites fused with InSAR data using MRSF, to invert the slip distribution of the Cascadia subduction zone. Results show that the inverted slip of the fused InSAR and GNSS data is comparable to that of the dense GNSS sites. Therefore, the MRSF method can obtain deformation results with high precision and high spatiotemporal resolution and effectively compensate for the lack of data caused by sparse GNSS sites during the geophysical inversion process.

In urban road environments, global navigation satellite system (GNSS) signals may be interrupted due to occlusion by buildings and obstacles, resulting in reduced accuracy and discontinuity of combined GNSS/inertial navigation system (INS) positioning. Improving the accuracy and robustness of combined GNSS/INS positioning systems for land vehicles in the presence of GNSS interruptions is a challenging task. The main objective of this paper is to develop a method for predicting GNSS information during GNSS outages based on a long short-term memory (LSTM) neural network to assist in factor graph-based combined GNSS/INS localization, which can provide a reliable combined localization solution during GNSS signal outages. In an environment with good GNSS signals, a factor graph fusion algorithm is used for data fusion of the combined positioning system, and an LSTM neural network prediction model is trained, and model parameters are determined using the INS velocity, inertial measurement unit (IMU) output, and GNSS position incremental data. In an environment with interrupted GNSS signals, the LSTM model is used to predict the GNSS positional increments and generate the pseudo-GNSS information and the solved results of INS for combined localization. In order to verify the performance and effectiveness of the proposed method, we conducted real-world road test experiments on land vehicles installed with GNSS receivers and inertial sensors. The experimental results show that, compared with the traditional combined GNSS/INS factor graph localization method, the proposed method can provide more accurate and robust localization results even in environments with frequent GNSS signal loss.

Global Navigation Satellite Systems (GNSSs), such as the Global Positioning System (GPS) and Global Navigation Satellite System (GLONASS), are the primary sensors for localization of most unmanned helicopters. However, GNSS signals cannot be tracked reliably due to geographic restrictions or deliberate jamming, and this has been an unsolved problem for a long time to localize the position of helicopters robustly and accurately when the GNSS signals are lost. A new algorithm is presented for this unsolved problem based on the unscented Kalman filter (UKF) using measurement data of inertial sensors. The proposed algorithm localizes the position of an unmanned helicopter using three new techniques. First, it models noises of acceleration measurement of inertial sensors by the white noise bias in addition to the commonly used random walking process. Then, this algorithm prioritizes the propagations of states in the UKF. Third, it leverages the time-varying GNSS dilution of precision in line with adjustments of the measurement noise covariances. The combination of these techniques makes it possible to localize the position of unmanned helicopters that are equipped with two-stroke engines, which generate large vibrations that result in noisy acceleration data. To facilitate automated tuning of the filter parameters, we further develop a population-based tuning method. The proposed algorithm with the auto-tuning method enables the positioning of unmanned helicopters and prompt reaction in the case of a GNSS outage without requiring tedious manual calibrations. The performance of this algorithm is experimentally validated on a fully instrumented model-sized helicopter.

A sparse global navigation satellite system (GLONASS) signal acquisition method based on compressive sensing and multiple measurement vectors is proposed. The nonsparse GLONASS signal can be represented sparsely on our proposed dictionary which is designed based on the signal feature. Then, the GLONASS signal is sensed by a normalized orthogonal random matrix and acquired by the improved multiple measurement vectors acquisition algorithm. There are 10 cycles of pseudorandom codes in a navigation message, and these 10 pseudorandom codes have the same row sparse structure. So, the acquisition probability can be raised by row sparse features theoretically. A large number of simulated GLONASS signal experiments show that the acquisition probability increases with the increase in the measurement vector column dimension. Finally, the practical availability of the new method is verified by acquisition experiments with the real record GLONASS signal. The new method can reduce the storage space and energy loss of data transmission. We hope that the new method can be applied to field receivers that need to record and transmit navigation data for a long time.

The traditional measurement of signal bandwidth using single-carrier frequency sweeping is not suitable for global navigation satellite system (GNSS) signal. A new analysis technique of signal bandwidth with digital signal processing technique has been developed. After the GNSS signal is highly sampled, the spectrum of the actual GNSS signal and the ideal signal generated locally are evaluated in digital domain. The bandwidth of GNSS signal can be calculated. Simulation has been done for the proposed measurement technique using spectrum evaluation algorithm of the Periodogram and the Welch respectively. The simulation results shows that the GNSS signal bandwidth can be accurately estimated after the ideal and actual signal spectrum are evaluated and calculated using the Welch. The simulation results show that The estimating accurate of signal bandwidth can be higher than 99.9% in the case of the proper parameters have been set for Welch.

The Quasi-Zenith Satellite System (QZSS), which offered positioning signals into your navigation system of devices such as cars and smartphones started service as a four-satellite system from November 2018. They are expected a widespread various innovative services with highly precise positioning. In this study, we describe the development of information processing technology in utilizing Global Navigation Satellite System (GNSS) data in view of the trend of human sensing technology on a wide area outdoor environment. The practical case of target is a human behavior of a skier in ski resort which is case of sports field by GNSS data capture experiment. The behavior of the skier is not only when skiing. There are various actions such as taking a break and ride on a ski lift. That is to say, it is necessary to separate skiing data and other data. In order to realize this, we analyzed the features of the raw GNSS data. We described an analysis of three-dimension GNSS data that is latitude, longitude, high data. As a result, we considered characteristic noise detection results of the data, and extracted of the ski lift ride situation about human behavior analysis.

Due to the low signal power, the Global Navigation Satellite System (GNSS) signal is vulnerable to interference and even cannot be captured or tracked in harsh environments. As an alternative, the Low Earth Orbit (LEO) satellite has been widely used in the navigation field due to the advantages of low cost and strong signals. It is becoming a significant component of the new combined navigation system with GNSS. The combination of an LEO Doppler signal and GNSS observables can improve the positioning accuracy and high-precision positioning convergence time of the GNSS receiver. However, the GNSS signal receiving capability cannot be improved from this data fusion level. We propose a novel assisted structure where GNSS signal acquisition and Doppler tracking are assisted by LEO Doppler positioning. The receiver uses the LEO signal to achieve Doppler positioning firstly. Then, the coarse position with the GNSS navigation messages received from LEO, as well as the estimated clock information, is used to assist in the acquisition and tracking of GNSS. In this way, the GNSS receiver’s sensitivity can get the benefit from this integrated system. The paper presents the structure of the assisted receiver and analyzes the assisted GNSS signal acquisition and carrier tracking performance in detail. Simulation experiments of this assisted structure are carried out to verify its superiority of acquisition and tracking sensitivity in comparison with standalone GNSS receivers. Theoretical analysis and experimental results show that the proposed acquisition method can achieve 90% detection probability at a carrier-to-noise ratio (C/N0) of 15 dB-Hz, which is about 8 dB higher than the conventional acquisition method without assistance; the proposed tracking method can track weak signals of 5 dB-Hz, which is about 4 dB higher than the conventional method. Therefore, this novel LEO-assisted receiver has significantly improved weak signal acquisition and tracking sensitivity.

Abstract. Typically, in situations where Global Navigation Satellite System (GNSS) signals are unavailable, navigation systems rely on integrating GNSS and inertial navigation system (INS) data. While such integration can provide accurate positioning during short GNSS signal outages, it cannot sustain prolonged GNSS outages. The reason for this is that the system's performance depends solely on the INS and can result in significant errors over time. To address this issue, additional onboard sensors are necessary. This study proposes a navigation system that integrates INS and LiDAR simultaneous localization and mapping (SLAM) using an extended Kalman filter (EKF). The system was tested using the raw KITTI dataset in various outdoor driving scenarios without GNSS signals. It is shown that the proposed system significantly outperformed the INS-only system, with an average RMSE improvement of around 93% and 58% in the horizontal and the up directions, respectively.

Temporal mass variations within the Earth’s system can be detected on a regional/global scale using GRACE (Gravity Recovery and Climate Experiment) and GRACE Follow-On (GRACE-FO) satellite missions’ data, while GNSS (Global Navigation Satellite System) data can be used to detect those variations on a local scale. The aim of this study is to investigate the usefulness of national GNSS CORS (Continuously Operating Reference Stations) networks for the determination of those temporal mass variations and for improving GRACE/GRACE-FO solutions. The area of Poland was chosen as a study area. Temporal variations of equivalent water thickness ΔEWT and vertical deformations of the Earth’s surface Δh were determined at the sites of the ASG-EUPOS (Active Geodetic Network of the European Position Determination System) CORS network using GRACE/GRACE-FO-based GGMs and GNSS data. Moreover, combined solutions of ΔEWT were developed by combining ΔEWT obtained from GNSS data with the corresponding ones determined from GRACE satellite mission data. Strong correlations (correlation coefficients ranging from 0.6 to 0.9) between detrended Δh determined from GRACE/GRACE-FO satellite mission data and the corresponding ones from GNSS data were observed at 93% of the GNSS stations investigated. Furthermore, for the determination of temporal mass variations, GNSS data from CORS network stations provide valuable information complementary to GRACE satellite mission data.

Abstract. The spatiotemporal variations of integrated precipitable water vapor (IPWV) are very important in understanding the regional variability of water vapor. Traditional in situ measurements of IPWV in the Indian region are limited, and therefore the performance of satellite and Copernicus Atmosphere Meteorological Service (CAMS) retrievals with the Indian Global Navigation Satellite System (GNSS) as reference were analyzed. In this study the CAMS reanalysis data of 1 year (2018) and the Indian GNSS and INSAT-3DR sounder retrieval data for 1.5 years (January 2017 to June 2018) were utilized, and statistics were computed. It is noticed that seasonal correlation coefficient (CC) values between INSAT-3DR and Indian GNSS data mainly lie within the range of 0.50 to 0.98 for all the selected 19 stations except Thiruvananthapuram (0.1), Kanyakumari (0.31) and Karaikal (0.15) during the monsoon season and Panjim (0.2) during the post-monsoon season. The seasonal CC values between CAMS and GNSS IPWV range from 0.73 to .99 except for Jaipur (0.16) and Bhubaneswar (0.29) during the pre-monsoon season, Panjim (0.38) during the monsoon season, Nagpur (0.50) during the post-monsoon season, and Dibrugarh (0.49) Jaipur (0.58) and Bhubaneswar (0.16) during the winter season. The root mean square error (RMSE) values are higher under the wet conditions (pre-monsoon and monsoon season) than under dry conditions (post-monsoon and winter season), and we found differences in magnitude and sign of bias for INSAT-3DR and CAMS with respect to GNSS IPWV from station to station and season to season. This study will help to improve understanding and utilization of CAMS and INSAT-3DR data more effectively along with GNSS data over land, coastal and desert locations in terms of the seasonal flow of IPWV, which is an essential integrated variable in forecasting applications.

The Global Navigation Satellite System (GNSS) signals are often blocked or interfered in complex geographical or electromagnetic environments, which may make GNSS receivers unable to provide satisfying navigation and positioning services. There have been many ground-based or space-based GNSS augmentation systems to improve the resilience of GNSS positioning, of which most of them rely on additional infrastructures. In this study, a smartphone-based tightly-coupled positioning method was developed using the images from a build-in monocular camera and GNSS signals. In this method, the feature points with the known coordinates are regarded as 'visual pseudolite' and the distance between the camera and the feature points was calculated according to the photogrammetry approaches and used to estimate the user positioning with GNSS signals. The experimental results showed the feasibility of the tightly-coupled positioning algorithm and reached the positioning accuracy of ±5.56 m (1?), which is significantly higher than that of GNSS-only and vision-only positioning solutions.