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Robust Statistics for GNSS Positioning under Harsh Conditions: A Useful Tool?

Medina, Daniel and Haoqing, Li and Vilà-Valls, Jordi and Closas, Pau (2019) Robust Statistics for GNSS Positioning under Harsh Conditions: A Useful Tool? Sensors. Multidisciplinary Digital Publishing Institute (MDPI). DOI: 10.3390/s19245402 ISBN 1424-8220 ISSN 1424-8220

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Official URL: https://www.mdpi.com/1424-8220/19/24/5402

Abstract

Navigation problems are generally solved applying least-squares (LS) adjustments. Techniques based on LS can be shown to perform optimally when the system noise is Gaussian distributed and the parametric model is accurately known. Unfortunately, real world problems usually contain unexpectedly large errors, so-called outliers, that violate the noise model assumption, leading to a spoiled solution estimation. In this work, the framework of robust statistics is explored to provide robust solutions to the global navigation satellite systems (GNSS) single point positioning (SPP) problem. Considering that GNSS observables may be contaminated by erroneous measurements, we survey the most popular approaches for robust regression (M-, S-, and MM-estimators) and how they can be adapted into a general methodology for robust GNSS positioning. We provide both theoretical insights and validation over experimental datasets, which serves in discussing the robust methods in detail.

Item URL in elib:https://elib.dlr.de/132606/
Document Type:Article
Title:Robust Statistics for GNSS Positioning under Harsh Conditions: A Useful Tool?
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Medina, DanielDaniel.AriasMedina (at) dlr.dehttps://orcid.org/0000-0002-1586-3269
Haoqing, Lili.haoq (at) husky.neu.eduUNSPECIFIED
Vilà-Valls, JordiJordi.VILA-VALLS (at) isae-supaero.frhttps://orcid.org/0000-0001-7858-4171
Closas, Paupau.closas (at) northeastern.eduhttps://orcid.org/0000-0002-5960-6600
Date:7 December 2019
Journal or Publication Title:Sensors
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.3390/s19245402
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
ISSN:1424-8220
ISBN:1424-8220
Status:Published
Keywords:robust statistics; global navigation satellite systems (GNSS); multipath; single point positioning (SPP)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Project Navigation 4.0
Location: Neustrelitz
Institutes and Institutions:Institute of Communication and Navigation > Nautical Systems
Deposited By: Medina, Daniel
Deposited On:11 Dec 2019 12:32
Last Modified:14 Dec 2019 04:27

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