Global Navigation Satellite Systems (GNSSs) remain the principal mean of positioning in many applications and systems, but several types environment, performance standalone receivers is degraded. Although works show benefits integration between GNSS Inertial (INSs), tightly-coupled architectures are mainly implemented professional devices based on high-grade Measurement Units (IMUs). This paper investigates improvements enabled by tight integration, using low-cost sensors a mass-market...

Advances in the development of micro-electromechanical systems (MEMS) have made possible fabrication cheap and small dimension accelerometers gyroscopes, which are being used many applications where global positioning system (GPS) inertial navigation (INS) integration is carried out, i.e., identifying track defects, terrestrial pedestrian navigation, unmanned aerial vehicles (UAVs), stabilization platforms, etc. Although these MEMS sensors low-cost, they present different errors, degrade...

Precision Agriculture (PA) refers to applications asking for reliable and highly available precise positions, at centimeter level, in most of operational scenarios. Machinery guidance, automatic steering controlled traffic farming enable machinery move along repeatable tracks on the field, minimizing pass-to-pass errors overlaps. In recent years, satellite-based navigation has also opened door (semi) autonomous machineries some specific scenarios operations. Farming industry is now looking...

The paper investigates approaches for loosely coupled GPS/INS integration. Error performance is calculated using a reference trajectory. A improvement can be obtained by exploiting additional map information (for example, road boundary). constrained solution has been developed and its compared with an unconstrained one. case of GPS outages also investigated showing how Kalman filter that operates on the last received position velocity measurements provides benefit. Results are means...

There are efforts worldwide to build and launch new Low Earth Orbit (LEO) satellites for a multitude of communication remote-sensing applications. The high number LEO soon be available, their relative proximity compared GNSS satellites, as well the potential Doppler-based positioning makes these systems good candidates future solutions, complement existing terrestrial navigation. Positioning, Navigation, Time (PNT), briefly referred LEO-PNT, can built either by reusing constellations signals...

In the modern automotive industry, wide variety of Intelligent Transport System (ITS) services needs a positioning unit. The core such unit is Global Navigation Satellite (GNSS) receiver hybridized or assisted by other sensors data. harsh environments, as urban scenarios, testing and performance assessment these terminals paramount importance for ITS applications. fact environments are very challenging GNSS This paper proposes some test procedures suitable to assess receivers, part an...

In this paper, the structure of a tracking loop with Extended Kalman Filter (EKF) is analyzed. Particular emphasis given to NCO update rule, which seldom mentioned or studied in previous literature. Furthermore, an EKF-based software receiver proposed including special modules dedicated initialization and maintenance loop. The architecture has been compared traditional one based on FLL/PLL+DLL architecture, benefit EKF within stage evaluated terms final positioning accuracy. Further tests...

Nowadays, the Global Navigation Satellite Systems (GNSS) technology is not primary means of navigation for civil aviation and Air Traffic Control, but its role increasing. Consequently, vulnerabilities GNSSs to Radio Frequency Interference, including dangerous intentional sources interference (i.e., jamming spoofing), raise concerns special attention also in field. This panorama urges figuring out effective solutions able cope with GNSS preserve safety operations. In frame a Single European...

The convergence of an expectation-maximization (EM) algorithm for state matrix estimation is investigated. It shown the expectation step that design and observed error covariances are monotonically dependent on residual variances. For maximization step, it established variances covariances. estimates to be unbiased when measurement noise negligible. A navigation application discussed in which use estimated parameters improves filtering performance.

Thanks to advances in the development of Micro-Electromechanical Systems (MEMS), it has been possible fabricate small dimension and cheap accelerometers gyros, which are being used many applications where GPS/INS integration is carried out, as for example identify track defects, navigation, geo-referencing, agriculture, etc. Although these MEMS devices have a low-cost, they present different errors degrade accuracy navigation systems short period time. Therefore, suitable modelling necessary...

This paper considers estimation problems where inequality constraints are imposed on the outputs of linear systems and can be modeled by nonlinear functions. In this case, censoring functions designed to constrain measurements for use filters smoothers. It is established that filter smoother output estimates unbiased, provided underlying probability density even odd. The Bounded Real Lemma employed ensure satisfy a performance criterion. A global positioning system (GPS) inertial navigation...

Global Navigation Satellite Systems (GNSS) spoofing is a pernicious type of intentional interference where GNSS receiver fooled into tracking counterfeit signals, with the purpose inducing misleading information application it used for. A possible technique able to identify attack dual-antenna method based on analysis dispersion double differences (D3) carrier-phase measurements. Such has been recently presented as relatively simple detect situations even only subset signals tracked by...

Tight integration algorithms fusing Global Navigation Satellite System (GNSS) and Inertial (INS) have become popular in many high-accuracy positioning navigation applications. Despite their reliability, common architectures can still run into accuracy drops under challenging settings. The growing computational power of low-cost, embedded systems has allowed for the exploitation several advanced Bayesian state estimation algorithms, such as Particle Filter (PF) its hybrid variants, e.g....

During the last decade, number of applications for land transportation that depend on systems accurate positioning has significantly increased. Unfortunately, based low-cost global navigation satellite system (GNSS) components harshly suffer signal impairments due to environment surrounding antenna, but new designs deeper data fusion and combination different processing techniques can overcome limitations without introduction expensive components. Supported by a complete mathematical model,...

New GNSS tracking architectures are becoming of scientific interest since the last decade. The traditional DLL/PLL tracking-loops have been progressively substituted by KF/EKF scalar and VDLL/VDFLL vector methods. In this paper we will analyze in depth performance a KF VDFLL case signal outage. Differently from papers on same topic, show how KF, when used within stage during signal's blockage, strongly dependent proper setting noise covariance matrices Q P system, otherwise cases frequency...

The minimum-variance smoother solution for input estimation is described and it shown that the resulting estimates are unbiased. smoothed state used to iteratively identify unknown process noise variances. use of estimates, as opposed filtered leads improved approximate Cramér-Rao lower bounds parameters. It also sequence iterates monotonic asymptotically approach actual values under prescribed conditions. A nonlinear mining navigation application in which parameters estimated.

This paper presents the development of a dual-antenna GNSS spoofing detection technique based on analysis dispersion double differences carrier phase measurements produced by two receivers. No synchronization receivers is needed for algorithm to properly work. The derived from idea Sum Squares (SoS) detector, recently presented as simple and efficient way detect common angle arrival all signals arriving pair antennas. presence such recognized an undiscussed indication non-authentic signals....

In the last decades, several positioning and navigation algorithms have been developed to enhance vehicular localization capabilities. Thanks ad-hoc communication networks, exchange of data solutions has exploited purpose. This trend recently suggested extension state-of-the art hybridization independent heterogeneous measurements within collaborative frameworks. this paper an integration paradigm based on combination Global Navigation Satellite System (GNSS) observable is analysed. work, a...

This paper presents the design of a truly low-cost multi-GNSS receivers /IMU navigation system that exploits benefits GNSS technology in attitude determination. The sensor package consists 4 single chipset receivers, antennas, and one low grade MEMS IMU. Both parts, IMU ones, are integrated by following heading-constrained Tightly-Coupled approach, where inertial raw measurements as well computed heading blended into an Extended Kalman Filter. To compute solution based on carrier phase...

This paper deals with a Software Defined Radio (SDR) receiver capable to process GPS and Galileo signals jointly. A large set of possible solution can be implemented, the main aim assessing performance for considered architectures. For this reason, software receivers, either real-time or non-real-time, are fundamental tools enable research new developments in field GNSSs. In our intent is discuss some choices one face when implementing an SDR GNSS receiver, switching from theory practice. We...

This article provides a comparative performance analysis of different acquisition and tracking methods GPS L1 C/A L5 signals testing their robustness to the presence scintillations in propagation environment. compares terms probabilities detection/false alarm, peak-to-noise floor ratios for acquired signal execution time, assessing loss scintillations. Moreover, robust architectures that are optimized operate harsh ionospheric environment have been employed. The carrier methods, namely,...

The paper deals with the development of a Robust Position Unit (RPU) based on real-time implementation an advanced positioning algorithm. RPU uses tightly-coupled technique between mass market single frequency GNSS chipset low cost Inertial Measurement (IMU) Micro Electro-Mechanical Systems and odometer. tight integration algorithm has been obtained through design complex Extended Kalman Filter (EKF). Its performance verified running designed in different challenging environments: urban...

This paper shows the design and development of a truly low cost attitude determination navigation system based primarily on non-dedicated mass market GNSS receivers antennas, aided by MEMS inertial sensors. GNSS/INS integration combines advantages absolute satellite-based positioning with high dynamic performance data rates sensors, having become standard approach in systems for Unmanned Aerial Vehicles (UAV) among other applications. We have used Tightly-Coupled (TC) algorithm aimed at GPS...