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Related Concept Videos

Types of Global Positioning System Surveys01:30

Types of Global Positioning System Surveys

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...
Errors in Global Positioning System01:26

Errors in Global Positioning System

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,...
Field Application of Global Positioning System01:28

Field Application of Global Positioning System

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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Introduction to Global Positioning System

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,...
Precipitation Gravimetry01:03

Precipitation Gravimetry

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Related Experiment Video

Updated: Jul 16, 2026

Reefshape: A System for the Efficient Collection and Automated Processing of Time-Series Underwater Photogrammetry Data for Benthic Habitat Monitoring
13:35

Reefshape: A System for the Efficient Collection and Automated Processing of Time-Series Underwater Photogrammetry Data for Benthic Habitat Monitoring

Published on: June 13, 2025

Robust Post-Processing for Marine GNSS/INS Integration: An Adaptive RTS Smoothing Approach via Huber M-Estimation.

Shengya Zhao1,2, Pengfei Sun3, Jichao Yang4

  • 1College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China.

Sensors (Basel, Switzerland)
|July 15, 2026
PubMed
Summary

This study introduces an Adaptive Rauch-Tung-Striebel Smoother (ARTSS) for Global Navigation Satellite System/Inertial Navigation System (GNSS/INS) navigation. The ARTSS method improves positioning accuracy during GNSS outages in complex environments.

Keywords:
GNSS/INS integrationHuber M-estimationadaptive backward smoothingerror-state extended Kalman filter (ESKF)weak GNSS signal

Related Experiment Videos

Last Updated: Jul 16, 2026

Reefshape: A System for the Efficient Collection and Automated Processing of Time-Series Underwater Photogrammetry Data for Benthic Habitat Monitoring
13:35

Reefshape: A System for the Efficient Collection and Automated Processing of Time-Series Underwater Photogrammetry Data for Benthic Habitat Monitoring

Published on: June 13, 2025

Area of Science:

  • * Navigation Systems Engineering
  • * Geomatics Engineering
  • * Signal Processing

Background:

  • * Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) integration is crucial for precise positioning and attitude determination in marine environments.
  • * Offshore engineering platforms and complex marine settings often cause GNSS signal attenuation, leading to significant degradation in navigation accuracy.
  • * Existing methods struggle to maintain accuracy during GNSS signal outages, necessitating advanced post-processing techniques.

Purpose of the Study:

  • * To propose an Adaptive Rauch-Tung-Striebel Smoother (ARTSS) based GNSS/INS integrated navigation method for post-processing applications.
  • * To enhance the robustness and accuracy of GNSS/INS systems in environments with frequent GNSS signal occlusions or attenuation.
  • * To effectively mitigate the impact of measurement outliers and reduce accumulated forward filtering errors.

Main Methods:

  • * Implementation of an Error-State Extended Kalman Filter (ESKF) for forward filtering.
  • * Dynamic construction of an adaptive equivalent weight using the Huber M-estimation cost function based on forward filtering innovations.
  • * Modulation of the smoothing gain in the backward pass using the adaptive factor to suppress measurement outlier interference.

Main Results:

  • * Comparative experiments using land vehicle and shipborne kinematic datasets demonstrated the effectiveness of the ARTSS method.
  • * The proposed ARTSS approach significantly improved positioning and attitude accuracy during GNSS signal outages compared to standard ESKF and RTSS.
  • * Shipborne experiment showed a 31.07% improvement in 3D position accuracy over ESKF and 6.97% over RTSS; land vehicle experiment showed 48.05% and 8.67% improvements, respectively.

Conclusions:

  • * The ARTSS-based GNSS/INS integrated navigation method effectively addresses accuracy degradation caused by GNSS signal outages in complex environments.
  • * The adaptive smoothing gain successfully suppresses measurement outliers, enhancing system reliability and stability.
  • * The proposed method offers a significant advancement for high-precision navigation in challenging marine and terrestrial settings.