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Cycle Slip Detection and Correction for Urban Vehicular GPS Localization
2016 (Engelska)Självständigt arbete på avancerad nivå (masterexamen), 20 poäng / 30 hpStudentuppsats (Examensarbete)
Abstract [en]

In this thesis an algorithm is proposed, which detects and corrects errors in Global Navigation Satellite System (GNSS) carrier phases enabling them to be used for precise vehicular localization. GNSS localization is done with lateration, that means distances to satellites with known positions are measured and used to compute the position of the receiver. In environments with high signal attenuation or blocking the used range measurements (pseudoranges) are noisy and cannot maintain the accuracy needed for applications in future road vehicles, such as autonomous driving. Using the carrier phases of the GNSS signal reduces this noise and allows a more precise localization. However, due to short signal outages or strong attenuations in GNSS unfriendly environments such as urban canyons discontinuities in the phase measurements are introduced, known as phase jumps or cycle slips, which have to be detected and corrected before using those measurements for localization.After introducing fundamental principles of GNSS and Inertial Navigation Systems (INSs), giving an overview of published literature on this topic and analysing the given measurements a mathematical model of the carrier phase is presented as well as the dy- namical model of the vehicle and the estimation of its heading. In the end a reference system is used for evaluation. It is shown, that the proposed algorithm is able to reliably detect and correct cycle slips in carrier phase measurements. Furthermore short signal outages can be bridged, which further improves the accuracy of localization, especially in urban environments. Mainly big errors above 5 m are corrected, resulting in an improve- ment of the 95% percentile for the position error of 7.40m (from 22.61m to 15.21m) in urban environments and 5.32 m (from 15.31 m to 9.99 m) in regions with both open field and urban areas. Furthermore the heading of the vehicle (relative to north) is filtered, which is compared to the one, given by the Global Positioning System (GPS) receiver itself. Here an improvement for the 95% quantile of 7.39◦ (from 9.17◦ to 1.78◦) can be observed. Furthermore the mean accuracy for this heading is more than doubled, from 0.55◦ to 0.25◦.

Ort, förlag, år, upplaga, sidor
2016.
Nyckelord [en]
Technology
Nyckelord [sv]
Teknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-59078Lokalt ID: f9b9e436-6398-4a84-9664-f52d380a2722OAI: oai:DiVA.org:ltu-59078DiVA, id: diva2:1032466
Ämne / kurs
Examensarbete, minst 30 hp
Utbildningsprogram
Rymdteknik, master
Examinatorer
Anmärkning
Validerat; 20160202 (global_studentproject_submitter)Tillgänglig från: 2016-10-04 Skapad: 2016-10-04Bibliografiskt granskad

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