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Robust GNSS Carrier Phase-based Position and Attitude Estimation

Medina, Daniel (2022) Robust GNSS Carrier Phase-based Position and Attitude Estimation. Dissertation, Universidad Carlos III de Madrid.

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Navigation information is an essential element for the functioning of robotic platforms and intelligent transportation systems. Among the existing technologies, Global Navigation Satellite Systems (GNSS) have established as the cornerstone for outdoor navigation, allowing for all-weather, all-time positioning and timing at a worldwide scale. GNSS is the generic term for referring to a constellation of satellites which transmit radio signals used primarily for ranging information. Therefore, the successful operation and deployment of prospective autonomous systems is subject to our capabilities to support GNSS in the provision of robust and precise navigational estimates. GNSS signals enable two types of ranging observations: --code pseudorange, which is a measure of the time difference between the signal's emission and reception at the satellite and receiver, respectively, scaled by the speed of light; --carrier phase pseudorange, which measures the beat of the carrier signal and the number of accumulated full carrier cycles. While code pseudoranges provides an unambiguous measure of the distance between satellites and receiver, with a dm-level precision when disregarding atmospheric delays and clock offsets, carrier phase measurements present a much higher precision, at the cost of being ambiguous by an unknown number of integer cycles, commonly denoted as ambiguities. Thus, the maximum potential of GNSS, in terms of navigational precision, can be reach by the use of carrier phase observations which, in turn, lead to complicated estimation problems. This thesis deals with the estimation theory behind the provision of carrier phase-based precise navigation for vehicles traversing scenarios with harsh signal propagation conditions. Contributions to such a broad topic are made in three directions. First, the ultimate positioning performance is addressed, by proposing lower bounds on the signal processing realized at the receiver level and for the mixed real- and integer-valued problem related to carrier phase-based positioning. Second, multi-antenna configurations are considered for the computation of a vehicle's orientation, introducing a new model for the joint position and attitude estimation problems and proposing new deterministic and recursive estimators based on Lie Theory. Finally, the framework of robust statistics is explored to propose new solutions to code- and carrier phase-based navigation, able to deal with outlying impulsive noises.

Item URL in elib:https://elib.dlr.de/186624/
Document Type:Thesis (Dissertation)
Title:Robust GNSS Carrier Phase-based Position and Attitude Estimation
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Medina, DanielUNSPECIFIEDhttps://orcid.org/0000-0002-1586-3269UNSPECIFIED
Date:25 March 2022
Journal or Publication Title:Robust GNSS Carrier Phase-based Position and Attitude Estimation: Theory and Applications
Refereed publication:Yes
Open Access:Yes
Number of Pages:213
Keywords:GNSS; Navigation; Estimation Bounds; Robust Statistics; Attitude Estimation; Robust Filtering; Integer Ambiguity Resolution; RTK; JPA;
Institution:Universidad Carlos III de Madrid
Department:Computer Science and Engineering Department
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication, Navigation, Quantum Technology
DLR - Research area:Raumfahrt
DLR - Program:R KNQ - Communication, Navigation, Quantum Technology
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:03 Jun 2022 14:04
Last Modified:24 Jan 2023 11:15

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