A Holistic Approach to Guarantee the Reliability of Positioning Based on Carrier Phase for Indoor Pseudolite
The integrity monitoring algorithm based on pseudorange observations has been widely used outdoors and plays an important role in ensuring the reliability of positioning. However, pseudorange observations are greatly affected by the error sources such as multipath, clock drift, and noise in indoor p...
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MDPI AG
2020-02-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/10/4/1199 |
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| author | Yinzhi Zhao Jiming Guo Jingui Zou Peng Zhang Di Zhang Xin Li Gege Huang Fei Yang |
| author_facet | Yinzhi Zhao Jiming Guo Jingui Zou Peng Zhang Di Zhang Xin Li Gege Huang Fei Yang |
| author_sort | Yinzhi Zhao |
| collection | DOAJ |
| description | The integrity monitoring algorithm based on pseudorange observations has been widely used outdoors and plays an important role in ensuring the reliability of positioning. However, pseudorange observations are greatly affected by the error sources such as multipath, clock drift, and noise in indoor pseudolite system, thus the pseudorange observations cannot be applied to high-precision indoor positioning. In general, double differenced (DD) carrier phase observations are used to obtain a high-precision indoor positioning result. What’s more, the carrier phase-based integrity monitoring (CRAIM) algorithm is applied to identify and exclude potential faults of the pseudolites. In this article, a holistic method is proposed to ensure the accuracy and reliability of positioning results. Firstly, if the reference pseudolite operates normally, extended Kalman filter is used for parameter estimation on the premise that the number of common pseudolites meets positioning requirements. Secondly, the innovation sequence in the Kalman filter is applied to construct test statistics and the corresponding threshold is determined from the Chi distribution with a given probability of false alert. The pseudolitehorizontal protection level (HPL) is calculated by the threshold and a prior probability of missed detection. Finally, compared the test statistics with the threshold to exclude the faultypseudolite for the reliability of positioning. The experiment results show that the proposed method improves the accuracy and stability of the results through faults detection and exclusion. This method ensures accuracies at the centimeter level for dynamic experiments and millimeter levels for static ones. |
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| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-12-23T11:26:12Z |
| publishDate | 2020-02-01 |
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| spelling | doaj.art-ebd66a88532c432e90eec7f9198a54412022-12-21T17:48:56ZengMDPI AGApplied Sciences2076-34172020-02-01104119910.3390/app10041199app10041199A Holistic Approach to Guarantee the Reliability of Positioning Based on Carrier Phase for Indoor PseudoliteYinzhi Zhao0Jiming Guo1Jingui Zou2Peng Zhang3Di Zhang4Xin Li5Gege Huang6Fei Yang7School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, ChinaSchool of Geodesy and Geomatics, Wuhan University, Wuhan 430079, ChinaSchool of Geodesy and Geomatics, Wuhan University, Wuhan 430079, ChinaSchool of Geodesy and Geomatics, Wuhan University, Wuhan 430079, ChinaSchool of Geodesy and Geomatics, Wuhan University, Wuhan 430079, ChinaCollege of Geology Engineering and Geomatics, Chang’an University, Xi’an 710054, Shannxi, ChinaState Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, Wuhan 430079, ChinaSchool of Geodesy and Geomatics, Wuhan University, Wuhan 430079, ChinaThe integrity monitoring algorithm based on pseudorange observations has been widely used outdoors and plays an important role in ensuring the reliability of positioning. However, pseudorange observations are greatly affected by the error sources such as multipath, clock drift, and noise in indoor pseudolite system, thus the pseudorange observations cannot be applied to high-precision indoor positioning. In general, double differenced (DD) carrier phase observations are used to obtain a high-precision indoor positioning result. What’s more, the carrier phase-based integrity monitoring (CRAIM) algorithm is applied to identify and exclude potential faults of the pseudolites. In this article, a holistic method is proposed to ensure the accuracy and reliability of positioning results. Firstly, if the reference pseudolite operates normally, extended Kalman filter is used for parameter estimation on the premise that the number of common pseudolites meets positioning requirements. Secondly, the innovation sequence in the Kalman filter is applied to construct test statistics and the corresponding threshold is determined from the Chi distribution with a given probability of false alert. The pseudolitehorizontal protection level (HPL) is calculated by the threshold and a prior probability of missed detection. Finally, compared the test statistics with the threshold to exclude the faultypseudolite for the reliability of positioning. The experiment results show that the proposed method improves the accuracy and stability of the results through faults detection and exclusion. This method ensures accuracies at the centimeter level for dynamic experiments and millimeter levels for static ones.https://www.mdpi.com/2076-3417/10/4/1199carrier phasedifferential pseudolite systemextended kalman filterreliabilityintegrity monitoring |
| spellingShingle | Yinzhi Zhao Jiming Guo Jingui Zou Peng Zhang Di Zhang Xin Li Gege Huang Fei Yang A Holistic Approach to Guarantee the Reliability of Positioning Based on Carrier Phase for Indoor Pseudolite Applied Sciences carrier phase differential pseudolite system extended kalman filter reliability integrity monitoring |
| title | A Holistic Approach to Guarantee the Reliability of Positioning Based on Carrier Phase for Indoor Pseudolite |
| title_full | A Holistic Approach to Guarantee the Reliability of Positioning Based on Carrier Phase for Indoor Pseudolite |
| title_fullStr | A Holistic Approach to Guarantee the Reliability of Positioning Based on Carrier Phase for Indoor Pseudolite |
| title_full_unstemmed | A Holistic Approach to Guarantee the Reliability of Positioning Based on Carrier Phase for Indoor Pseudolite |
| title_short | A Holistic Approach to Guarantee the Reliability of Positioning Based on Carrier Phase for Indoor Pseudolite |
| title_sort | holistic approach to guarantee the reliability of positioning based on carrier phase for indoor pseudolite |
| topic | carrier phase differential pseudolite system extended kalman filter reliability integrity monitoring |
| url | https://www.mdpi.com/2076-3417/10/4/1199 |
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