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Reliable GNSS Joint Position and Attitude Estimation in Harsh Environments through Robust Statistics

Belles Ferreres, Andrea and Arias Medina, Daniel and Chauchat, Paul and Vilà-Valls, Jordi (2022) Reliable GNSS Joint Position and Attitude Estimation in Harsh Environments through Robust Statistics. In: 2022 IEEE Aerospace Conference, AERO 2022. IEEE. 2022 IEEE Aerospace Conference (AERO), 2022-03-05 - 2022-03-12, Big Sky, Montana, USA. doi: 10.1109/AERO53065.2022.9843300. ISBN 978-166543760-8. ISSN 1095-323X.

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Official URL: https://ieeexplore.ieee.org/document/9843300


Next-generation navigation systems require precise and robust solutions, providing information about both the system position and its attitude, of particular interest in intelligent transportation systems and robotics applications. Within this context, Global Navigation Satellite Systems (GNSS) are the main source of positioning data and, in multiple antenna setups, can also provide attitude information. Notice that the use of phase observables is mandatory to obtain a precise solution. In this contribution, we leverage the recently introduced recursive GNSS joint position and attitude (JPA) estimation framework, which has been shown to provide good performance under nominal conditions. The main goal is to further elaborate the JPA problem and to propose a new robust filtering solution able to mitigate the impact of possible outliers, which may otherwise cause a performance breakdown of standard JPA, because of the sensitivity of carrier phase measurements. Illustrative results are provided to support the discussion and show the performance improvement of the proposed approach.

Item URL in elib:https://elib.dlr.de/191715/
Document Type:Conference or Workshop Item (Lecture)
Title:Reliable GNSS Joint Position and Attitude Estimation in Harsh Environments through Robust Statistics
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Arias Medina, DanielUNSPECIFIEDhttps://orcid.org/0000-0002-1586-3269UNSPECIFIED
Date:March 2022
Journal or Publication Title:2022 IEEE Aerospace Conference, AERO 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Series Name:2022 IEEE Aerospace Conference (AERO)
Keywords:Global navigation satellite system, Sensitivity, Phase measurement, Estimation, Reliability, Iterative methods, Standards, filtering theory, attitude estimation, robust filtering solution, standard JPA, robust statistics, recursive GNSS joint position, reliable gnss joint position-attitude estimation
Event Title:2022 IEEE Aerospace Conference (AERO)
Event Location:Big Sky, Montana, USA
Event Type:international Conference
Event Start Date:5 March 2022
Event End Date:12 March 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Transport System
DLR - Research area:Transport
DLR - Program:V VS - Verkehrssystem
DLR - Research theme (Project):V - FuturePorts
Location: Neustrelitz
Institutes and Institutions:Institute of Communication and Navigation > Nautical Systems
Deposited By: Belles Ferreres, Andrea
Deposited On:08 Dec 2022 19:00
Last Modified:24 Apr 2024 20:52

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