Bounding of correlated double-differenced GNSS observation errors using NRTK for precise positioning of autonomous vehicles
Bounding satellites’ nominal measurement errors to calculate the protection level (PL) of the position error is a salient step of integrity monitoring of positioning autonomous vehicles (AVs). In this work, the focus is on applying the network RTK approach which is a suitable technique for precise p...
| Main Authors: | , , |
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| Format: | Journal Article |
| Language: | English |
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ELSEVIER SCI LTD
2023
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| Online Access: | http://purl.org/au-research/grants/arc/DP190102444 http://hdl.handle.net/20.500.11937/93511 |
| _version_ | 1848765745119363072 |
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| author | Elsayed, Hassan El-Mowafy, Ahmed Wang, Kan |
| author_facet | Elsayed, Hassan El-Mowafy, Ahmed Wang, Kan |
| author_sort | Elsayed, Hassan |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | Bounding satellites’ nominal measurement errors to calculate the protection level (PL) of the position error is a salient step of integrity monitoring of positioning autonomous vehicles (AVs). In this work, the focus is on applying the network RTK approach which is a suitable technique for precise positioning of AVs. A measurement weighting matrix formed from the overbounding standard deviation (STD) and considers the correlation among differenced observations was developed to achieve conservative PLs. Two approaches were designed to estimate the overbounding parameters and compute the correlation coefficients using one full year of different satellites measurements from multiple constellations. The Two-Step Gaussian Bounding method is used to calculate the overbounding parameters. The overbounding mean and STD of both code and phase observation errors for both approaches were in the range of 0.0003–1.369 m and 0.007–2.497 m, respectively. While the first approach provides a tight overbounding results, the second is more conservative. |
| first_indexed | 2025-11-14T11:40:08Z |
| format | Journal Article |
| id | curtin-20.500.11937-93511 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T11:40:08Z |
| publishDate | 2023 |
| publisher | ELSEVIER SCI LTD |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-935112023-10-30T07:17:40Z Bounding of correlated double-differenced GNSS observation errors using NRTK for precise positioning of autonomous vehicles Elsayed, Hassan El-Mowafy, Ahmed Wang, Kan Science & Technology Technology Engineering, Multidisciplinary Instruments & Instrumentation Engineering GNSS Autonomous vehicle Integrity monitoring Error bounding Protection level Network RTK PERFORMANCE EVALUATION INTEGRITY Bounding satellites’ nominal measurement errors to calculate the protection level (PL) of the position error is a salient step of integrity monitoring of positioning autonomous vehicles (AVs). In this work, the focus is on applying the network RTK approach which is a suitable technique for precise positioning of AVs. A measurement weighting matrix formed from the overbounding standard deviation (STD) and considers the correlation among differenced observations was developed to achieve conservative PLs. Two approaches were designed to estimate the overbounding parameters and compute the correlation coefficients using one full year of different satellites measurements from multiple constellations. The Two-Step Gaussian Bounding method is used to calculate the overbounding parameters. The overbounding mean and STD of both code and phase observation errors for both approaches were in the range of 0.0003–1.369 m and 0.007–2.497 m, respectively. While the first approach provides a tight overbounding results, the second is more conservative. 2023 Journal Article http://hdl.handle.net/20.500.11937/93511 10.1016/j.measurement.2022.112303 English http://purl.org/au-research/grants/arc/DP190102444 ELSEVIER SCI LTD restricted |
| spellingShingle | Science & Technology Technology Engineering, Multidisciplinary Instruments & Instrumentation Engineering GNSS Autonomous vehicle Integrity monitoring Error bounding Protection level Network RTK PERFORMANCE EVALUATION INTEGRITY Elsayed, Hassan El-Mowafy, Ahmed Wang, Kan Bounding of correlated double-differenced GNSS observation errors using NRTK for precise positioning of autonomous vehicles |
| title | Bounding of correlated double-differenced GNSS observation errors using NRTK for precise positioning of autonomous vehicles |
| title_full | Bounding of correlated double-differenced GNSS observation errors using NRTK for precise positioning of autonomous vehicles |
| title_fullStr | Bounding of correlated double-differenced GNSS observation errors using NRTK for precise positioning of autonomous vehicles |
| title_full_unstemmed | Bounding of correlated double-differenced GNSS observation errors using NRTK for precise positioning of autonomous vehicles |
| title_short | Bounding of correlated double-differenced GNSS observation errors using NRTK for precise positioning of autonomous vehicles |
| title_sort | bounding of correlated double-differenced gnss observation errors using nrtk for precise positioning of autonomous vehicles |
| topic | Science & Technology Technology Engineering, Multidisciplinary Instruments & Instrumentation Engineering GNSS Autonomous vehicle Integrity monitoring Error bounding Protection level Network RTK PERFORMANCE EVALUATION INTEGRITY |
| url | http://purl.org/au-research/grants/arc/DP190102444 http://hdl.handle.net/20.500.11937/93511 |