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Related Concept Videos

Errors in Global Positioning System01:26

Errors in Global Positioning System

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Global Positioning System (GPS) technology has revolutionized navigation and positioning, but its accuracy is often compromised by various errors. These errors, stemming from environmental, satellite, and receiver-related factors, require careful mitigation to ensure reliable performance across applications.Atmospheric ErrorsGPS signals travel through the Earth’s ionosphere and troposphere, introducing delays which affect accuracy. The ionosphere is strongly influenced by charged particles,...
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Types of Global Positioning System Surveys01:30

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GPS surveying methods vary in application, accuracy, and data collection techniques, catering to diverse surveying and mapping needs. Static GPS, kinematic GPS, and real-time kinematic (RTK) surveying are widely used. Each technique offers distinct advantages.Static GPS involves placing one receiver at a known reference point and another at the target point. It collects exact positional data by observing multiple satellite ranges over an extended period, achieving centimeter-level accuracy for...
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Introduction to Global Positioning System01:30

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The Global Positioning System (GPS) revolutionized positioning on Earth, providing precise location data through satellite ranging. The GPS system was developed in 1978 by the U.S. Department of Defense  for military use, and it became available for civilian applications in 1983, transforming fields including navigation, fleet management, and time synchronization for telecommunications systems.GPS consists of satellites in medium Earth orbit, about 20,200 kilometers above the surface,...
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During leveling, the Earth's curvature and atmospheric refraction introduce deviations in the line of sight from a true horizontal reference. When the line of sight is leveled, it remains perpendicular to the plumb line only at a single point. Beyond this, it deviates due to the Earth’s curvature, represented by the correction C. For a sight distance D, the deviation can be derived using the relationship:This relationship shows that the deviation increases quadratically with distance.
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Decimeter-Level Accuracy for Smartphone Real-Time Kinematic Positioning Implementing a Robust Kalman Filter Approach

Amir Hossein Pourmina1, Mohamad Mahdi Alizadeh1,2, Harald Schuh2,3

  • 1Faculty of Geodesy and Geomatics Engineering, K. N. Toosi University of Technology, Tehran 19697, Iran.

Sensors (Basel, Switzerland)
|September 28, 2024
PubMed
Summary
This summary is machine-generated.

Smartphone positioning is enhanced by fusing Global Navigation Satellite System (GNSS) real-time kinematic (RTK) with Inertial Navigation System (INS) data. This integrated approach improves accuracy and reliability, especially in challenging urban environments.

Keywords:
RTK/INS fusionSamsung Galaxy S21 UltraXiaomi Mi 8inertial navigation systemreal-time kinematic positioningsmartphonesurban complex environments

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Area of Science:

  • Geomatics Engineering
  • Navigation Systems
  • Mobile Sensing

Background:

  • Smartphones offer real-time Global Navigation Satellite System (GNSS) data (pseudorange, Doppler, carrier-phase).
  • Real-time kinematic (RTK) positioning is achievable by integrating smartphone GNSS with reference station corrections.
  • Inertial Navigation System (INS) data can complement GNSS for improved positioning robustness.

Purpose of the Study:

  • To evaluate real-time positioning capabilities of smartphones using raw GNSS measurements.
  • To propose and assess an improved positioning method by integrating GNSS RTK with INS measurements.
  • To investigate the performance of a tightly coupled RTK/INS fusion framework in complex urban settings.

Main Methods:

  • Utilized a U-Blox ZED-F9R GNSS receiver as a benchmark.
  • Developed an enhanced ambiguity resolution algorithm combining LAMBDA method with adaptive thresholding.
  • Implemented a tightly coupled (TC) RTK/INS fusion using an extended Kalman filter (EKF) with real-time weighting.
  • Leveraged INS data for maintaining accurate positioning during GNSS outages and detecting abnormal GNSS measurements.

Main Results:

  • RTK positioning achieved decimeter-level precision, outperforming Single-Point Positioning (SPP).
  • The RTK/INS fusion method provided positioning accuracies of approximately 0.380 m (Xiaomi Mi 8) and 0.415 m (Samsung Galaxy S21 Ultra) in Qazvin City.
  • The fusion method demonstrated improved stability and accuracy, bridging the gap between SPP and RTK, and served as a viable alternative when RTK signals were unreliable.

Conclusions:

  • Integrating RTK and INS measurements offers enhanced real-time smartphone positioning, particularly in challenging urban environments.
  • The proposed TC RTK/INS fusion framework with adaptive weighting shows significant potential for robust navigation.
  • Environmental conditions critically influence the choice of positioning method, highlighting the value of fusion techniques for consistent performance.