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Attitude Determination and RTK Performances Amelioration Using Multiple Low-Cost Receivers with Known Geometry

Abstract : The concept of autonomous driving has become more and more a central topic for the automobile industry, where a precise position and attitude information is essential for this kind of application. Over the past decade, the universal GNSS has been dramatically utilized in various domains, such as aviation, marine, precise agriculture, geodesy and surveying, automotive, etc. However, the accuracy or integrity that a low-cost GNSS receiver can provide in a constrained urban or indoor environment is far from satisfactory for applications where decimeter or centimeter accuracy and error bounds are mostly envisioned. To reach this level of accuracy, techniques using raw carrier phase measurements have been developed. Carrier phase measurements are more precise than code measurements by a factor of a hundred [1]. Nevertheless, they are also less robust and include a so-called integer ambiguity resolution (IAR) that prevents them to be used directly for positioning. In some harsh environments, severe code multipath, and losses of lock called cycle slips creating sudden changes of these ambiguities increase the difficulty to consider these ambiguities thus reduce the accuracy. To increase confidence and accelerate the IAR process by limiting the search space, restrictions can be established from the use of an array of two or more receivers with prior known and fixed geometry which includes the length of the baseline vectors between the antennas of the receiver array and the orientation of the vectors. In recent years, several studies have focused on the use of array of receivers for attitude determination [2] and calibration of magnetic field sensors [3], Daniel et al. [4] developed a method for the recursive estimation of the positioning and attitude problems using GNSS carrier phase observations from an array of receivers, but they calculated the position of each receiver separately thus they didn’t take advantage of the known geometry. Farhad et al.[5] used an adaptive KF for 3-dimensional attitude determination and position estimation of a mobile robot by fusing the information from a system of two RTK GPSs and an IMU, however, they also didn’t consider the known geometry of the receiver as a constraint to help improve the performance. Zheng et al. [6] presented a methodology for integrating carrier phase attitude determination and positioning systems by considering one of the receiver pairs in the attitude determination system also used as the rover for the relative positioning system. Nevertheless, their attitude determination and positioning systems remained independent which didn’t much ameliorate the success rate of IAR for the RTK positioning. Khodabandeh et al. [7] introduced a concept of array-based between-satellite single difference satellite phase biases determination to accelerate the single-receiver IAR, but they didn’t take into consideration the attitude information of the vehicle which cannot analyze the influence with attitude consideration. Peirong Fan et al.[8] proposed a dual-antenna constraint RTK algorithm to improve the system AR success rate, which combines GNSS measurements of both antennas by making use of the baseline vector constraint between them. However, the attitude information of the vehicle is still not taken into acccunt. To the author’s best knowledge, very few publications can be found that address the use of an array of receivers to improve the accuracy of the array position or for some internal steps of precise position computation for RTK processing with vehicle attitude determination, such as cycle slip detection or integer ambiguity resolution. The concept of RTK positioning using an array of GNSS receiver has already been introduced in our previous work [9]. In [10], we discussed the improvement of cycle-slip detection and repair for RTK processing by using an array of two receivers with known geometry. In this paper, while we refer to our earlier work, the focus is different. In both our previous contributions, the proposed precise position and attitude determination algorithm was verified with only simulated measurements rather than real data to enable the conduction of several specific comparison scenarios between our multi-receiver system and the traditional single receiver system. The present paper is the extension and improvement of our previous work, which aims at validating its application to actual situations by using the real measurement collected from different environments with different length of array antenna baselines, in terms of the positioning accuracy, the fixing rate, and the attitude determination accuracy.
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Contributor : Laurence Porte <>
Submitted on : Friday, October 30, 2020 - 6:59:59 PM
Last modification on : Friday, October 30, 2020 - 6:59:59 PM


  • HAL Id : hal-02984329, version 1



Xiao Hu, Paul Thevenon, Christophe Macabiau. Attitude Determination and RTK Performances Amelioration Using Multiple Low-Cost Receivers with Known Geometry. ION ITM 2021, Jan 2021, Virtual event, France. ⟨hal-02984329⟩



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