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research-article

A unified cycle-slip, multipath estimation, detection and mitigation method for VIO-aided PPP in urban environments

Authors:

Shoujian Zhang,

Xingxing LiAuthors Info & Claims

GPS Solutions, Volume 27, Issue 2

https://doi.org/10.1007/s10291-023-01396-7

Published: 17 January 2023 Publication History

Abstract

Accurate, continuous and reliable positioning is required in autonomous driving. The precise point positioning (PPP) technique, which can provide a global accurate positioning service using a single global navigation satellite system (GNSS) receiver, has attracted much attention. Nevertheless, due to the cycle slips and multipath effects in the GNSS signal, the performance of PPP is severely degraded in urban areas, which has a negative effect on the PPP/inertial navigation system (INS)/vision integrated navigation. Moreover, the carrier phase observations with un-modeled multipath cause false detection of small cycle slips and lead to deviation in the state variable estimation in PPP. Therefore, an effective cycle slip/multipath estimation, detection and mitigation (EDM) method is proposed. A clustering method is used to separate the cycle slips and multipath from the carrier phase observations aided by visual inertial odometry (VIO) positioning results. The influence of the carrier phase multipath on state variable estimation is reduced by adjusting the stochastic ambiguity model in the Kalman filter. The proposed EDM method is validated by vehicle experiments conducted in urban and freeway areas. Experimental results demonstrate that 0.2% cycle slip detection error is achieved by our method. Besides, the multipath estimation accuracy of EDM improves by more than 50% compared with the geometry-based (GB) method. Regarding positioning accuracy, the EDM method has a maximum of 72.2% and 63.2% improvement compared to traditional geometry-free (GF) and GB methods.

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Cited By

Jia CLiu YLi H(2024)Single-frequency cycle slip detection and repair for a standalone GNSS receiver using a common-antenna-based dual-board designGPS Solutions10.1007/s10291-024-01724-528:4Online publication date: 22-Aug-2024
https://dl.acm.org/doi/10.1007/s10291-024-01724-5
Pan CLi FPan YWang YSoja BLi ZGao J(2023)Tightly coupled integration of monocular visual-inertial odometry and UC-PPP based on factor graph optimization in difficult urban environmentsGPS Solutions10.1007/s10291-023-01586-328:1Online publication date: 13-Dec-2023
https://dl.acm.org/doi/10.1007/s10291-023-01586-3

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Information & Contributors

Information

Published In

cover image GPS Solutions

GPS Solutions Volume 27, Issue 2

Apr 2023

560 pages

ISSN:1080-5370

Issue’s Table of Contents

© The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature 2023. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

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Springer-Verlag

Berlin, Heidelberg

Publication History

Published: 17 January 2023

Accepted: 03 January 2023

Received: 01 September 2022

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The National Key Research and Development Program of China

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Cited By

Jia CLiu YLi H(2024)Single-frequency cycle slip detection and repair for a standalone GNSS receiver using a common-antenna-based dual-board designGPS Solutions10.1007/s10291-024-01724-528:4Online publication date: 22-Aug-2024
https://dl.acm.org/doi/10.1007/s10291-024-01724-5
Pan CLi FPan YWang YSoja BLi ZGao J(2023)Tightly coupled integration of monocular visual-inertial odometry and UC-PPP based on factor graph optimization in difficult urban environmentsGPS Solutions10.1007/s10291-023-01586-328:1Online publication date: 13-Dec-2023
https://dl.acm.org/doi/10.1007/s10291-023-01586-3

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