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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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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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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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The Global Positioning System (GPS) has become an indispensable tool in fieldwork, offering unparalleled precision and efficiency for surveying, navigation, and infrastructure development. By harnessing signals from a constellation of satellites, GPS receivers determine the location of objects with remarkable speed and accuracy, often completing calculations within a second.Advantages of Modern GPS TechnologyContemporary GPS receivers are designed to meet the practical demands of field...
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Robust Navigation in Multipath Environments Using GNSS/UWB/INS Integration with Anchor Position Estimation Toward

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  • 1Department of Aerospace Engineering, Graduate School of Engineering, Osaka Metropolitan University, Nakamozu Campus, Osaka 599-8531, Japan.

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This study integrates Global Navigation Satellite Systems (GNSS), ultra-wideband (UWB), and inertial navigation systems (INS) to improve drone positioning in challenging urban environments. The new framework significantly reduces errors caused by signal reflections, achieving submeter accuracy.

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Area of Science:

  • Navigation Systems Engineering
  • Robotics and Autonomous Systems
  • Geomatics Engineering

Background:

  • Global Navigation Satellite Systems (GNSS) are crucial for autonomous vehicles and urban air mobility but struggle with accuracy in complex environments due to multipath interference.
  • Multipath effects, signal blockage, and attenuation from urban structures severely degrade GNSS positioning performance, posing risks to safety-critical applications.
  • Existing ultra-wideband (UWB) systems require precise pre-surveyed anchor locations, limiting their deployment flexibility.

Purpose of the Study:

  • To develop and evaluate a loosely integrated navigation framework combining GNSS, UWB, and Inertial Navigation System (INS) data.
  • To enhance positioning accuracy and robustness in GNSS-degraded environments, specifically addressing multipath effects.
  • To enable UWB anchor self-localization, reducing reliance on pre-surveyed infrastructure.

Main Methods:

  • A loosely coupled navigation filter was designed integrating GNSS, UWB, and INS sensor data.
  • UWB ranging measurements were utilized, with an extended approach for estimating UWB anchor positions.
  • Field experiments were conducted using a drone in multipath-prone outdoor urban settings.

Main Results:

  • The proposed GNSS/UWB/INS integration achieved up to a 90% reduction in positioning errors compared to GNSS/INS alone.
  • Submeter-level positioning accuracy was demonstrated in areas with sufficient UWB anchor coverage.
  • The system exhibited significant robustness against multipath interference inherent in urban canyons.

Conclusions:

  • The integrated GNSS/UWB/INS navigation framework offers a robust solution for accurate positioning in challenging urban environments.
  • The ability to estimate UWB anchor locations alleviates a key deployment barrier, enhancing UWB system utility.
  • This approach provides a pathway towards reliable navigation for future applications like electric Vertical Take-Off and Landing (eVTOL) aircraft.