Dampf, Jürgen; Lichtenberger, Christian A.; Pany, Thomas
Document type:
Konferenzbeitrag / Conference Paper
Title:
Probability Analysis for Bayesian Direct Position Estimation in a Real-Time GNSS Software Receiver
Title of conference publication:
Proceedings of the 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2019)
Subtitle of conference publication:
Miami, Florida, September 2019
Conference title:
International Technical Meeting of the Satellite Division of The Institute of Navigation (32., 2019, Miami, FL)
Conference title:
The 32nd International Technical Meeting of the Satellite Division of The Institute of Navigation
Venue:
Miami, Florida
Year of conference:
2019
Date of conference beginning:
16.09.2019
Date of conference ending:
20.09.2019
Publishing institution:
ION, Institute of Navigation
Year:
2019
Pages from - to:
3543-3566
Language:
Englisch
Abstract:
Bayesian Direct Position Estimation (BDPE) is a novel and promising positioning method, where the Position, Velocity and Time
(PVT) is estimated directly from signal samples or correlation values of a Global Navigation Satellite System (GNSS) receiver. The
method promises a significant signal tracking gain compared to state of the art algorithms, thus this method fully exploits its benefits
in very challenging environments. It is known, that in such environments the signal measurements are not Gaussian distributed. A
natural approach for BDPE is the usage of Bayesian filtering techniques, such as a particle filter, which allow to cope with nonlinearities
in the system and observation model and being able to cope with non-Gaussian and multi-modal distributions. One
essential step within Bayesian filters it the measurement update (particle weight update), where the current state is updated with a
new set of measurements. An optimal and stable probabilistic weight update equation which accounts for residual User Range Errors
(URE) (orbit, satellite clock, atmosphere or multipath) using nuisance parameters exist in literature but was only discussed on a single GNSS signal for the code phase and Doppler. This work proposes a computational efficient method to produce Probability
Density Functions (PDF) in a software receiver, which is a key element to achieve a real-time capable software based BDPE receiver.
To understand the resulting PDFs in the PVT domain, the PDFs are discussed in the 2-dimensional position domain on simulated
data and on real-world datasets comprising an urban canyon, under-passing a bridge and indoor scenario. «
Bayesian Direct Position Estimation (BDPE) is a novel and promising positioning method, where the Position, Velocity and Time
(PVT) is estimated directly from signal samples or correlation values of a Global Navigation Satellite System (GNSS) receiver. The
method promises a significant signal tracking gain compared to state of the art algorithms, thus this method fully exploits its benefits
in very challenging environments. It is known, that in such environments the signal measurements are... »