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Array PPP-RTK: A High Precision Pose Estimation Method for Outdoor Scenarios

An, Xiangdong and Belles Ferreres, Andrea and Rizzi, Filippo Giacomo and Hösch, Lukas and Lass, Christoph and Medina, Daniel (2024) Array PPP-RTK: A High Precision Pose Estimation Method for Outdoor Scenarios. IEEE Transactions on Intelligent Transportation Systems. IEEE - Institute of Electrical and Electronics Engineers. ISSN 1524-9050.

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Abstract

Advanced driver-assistance system (ADAS) and high levels of autonomy for vehicular applications require reliable and high precision pose information for their functioning. Pose estimation comprises solving the localization and orientation problem for a rigid body in a three-dimensional space. In outdoor scenarios, the fusion of Global Navigation Satellite Systems (GNSS) and inertial data in high-end receivers constitutes the baseline for ground truth localization solutions, such as Real-Time Kinematic (RTK) or Precise Point Positioning (PPP). These techniques present two main disadvantages, namely the inability to provide absolute orientation information and the lack of observations redundancy in urban scenarios. This paper presents Array PPP-RTK, a recursive three-dimensional pose estimation technique which fuses inertial and multi-antenna GNSS measurements to provide centimeters and sub-degree precision for positioning and attitude estimates, respectively. The core filter is based on adapting the well-known Extended Kalman Filter (EKF), such that it deals with parameters belonging to the SO(3) and GNSS integer ambiguity groups. The Array PPP-RTK observation model is also introduced, based on the combination of carrier phase measurements over multiple antennas along with State Space Representation (SSR) GNSS corrections. The performance assessment is based on the real data collected on an inland waterway scenario. The results demonstrate that a high precision solution is available 99.5% of the time, with a horizontal precision of around 6 cm and heading precision of 0.9 degrees. Despite the satellite occlusion after bridge passing, it is shown that Array PPP-RTK recovers high accurate estimates in less than ten seconds.

Item URL in elib:https://elib.dlr.de/199919/
Document Type:Article
Title:Array PPP-RTK: A High Precision Pose Estimation Method for Outdoor Scenarios
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
An, XiangdongUNSPECIFIEDhttps://orcid.org/0000-0001-5190-9503UNSPECIFIED
Belles Ferreres, AndreaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Rizzi, Filippo GiacomoUNSPECIFIEDhttps://orcid.org/0000-0003-0585-2133UNSPECIFIED
Hösch, LukasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Lass, ChristophUNSPECIFIEDhttps://orcid.org/0000-0001-9998-0632UNSPECIFIED
Medina, DanielUNSPECIFIEDhttps://orcid.org/0000-0002-1586-3269UNSPECIFIED
Date:2024
Journal or Publication Title:IEEE Transactions on Intelligent Transportation Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:1524-9050
Status:Accepted
Keywords:Pose Estimation; Precise Positioning; Extended Kalman Filtering; GNSS Multi-Antenna; GNSS Inertial Fusion.
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, R - Project HIGAIN [KNQ]
Location: Neustrelitz
Institutes and Institutions:Institute of Communication and Navigation > Nautical Systems
Deposited By: Medina, Daniel
Deposited On:06 Dec 2023 12:17
Last Modified:06 Dec 2023 12:17

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