Height Aiding, C/N 0 Weighting and Consistency Checking for GNSS NLOS and Multipath Mitigation in Urban Areas
Citations
547 citations
265 citations
Cites methods from "Height Aiding, C/N 0 Weighting and ..."
...at different levels, for example, the antenna design techniques [13], [14], the receiver-based techniques [15], as well as the post-receiver techniques [16], which help to improve accuracy and reliability of the GNSS positioning in urban environment....
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151 citations
Cites background from "Height Aiding, C/N 0 Weighting and ..."
...Consistency checking can also be used to identify both NLOS and multipath-contaminated signals (Groves and Jiang 2013)....
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116 citations
Cites background from "Height Aiding, C/N 0 Weighting and ..."
...IP address: 54.190.19.90, on 25 Mar 2022 at 00:15:45, subject to the Cambridge Core terms of use, available at and multipath interference (Groves and Jiang, 2013)....
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106 citations
Cites background or methods or result from "Height Aiding, C/N 0 Weighting and ..."
...Map-indicated height can also be used as an additional measurement or constraint to improve the robustness of consistency checking [3][30]....
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...Thus consistency checking using sequential testing actually degrades the average positioning accuracy in dense urban environments [3][10]....
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...This effect can be seen both in some of the results presented in Section 3 and in in the results presented in [3]....
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...Thus, this method can only ever be partially effective and tests in a dense urban environment suggest that elevation-based weighting has little impact on positioning performance [3]....
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...In each case, measurements were weighted according to the satellite elevation angle as described in [3]....
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References
2,409 citations
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"Height Aiding, C/N 0 Weighting and ..." refers background or methods in this paper
...A common RANSAC cost function, based purely on the size of individual “residual” and assuming a Gaussian distribution, is defined by (Torr and Zisserman, 2000) as Ci(ei) = ∑m j=1 k(eij, δ), (12) where k(eij, δ) = eij/σρj e i j 4 δ δ/σρj eij . δ { , (13) where σρj is given by (7) or (8)....
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...A common RANSAC cost function, based purely on the size of individual “residual” and assuming a Gaussian distribution, is defined by (Torr and Zisserman, 2000) as...
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...The RANSAC technique was previously proposed for computer image processing to deal with data sets with high proportions of outliers (Torr and Zisserman, 2000)....
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...This is because the least-squares estimation method performs poorly on data sets containing a high proportion of outliers (Torr and Zisserman, 2000)....
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...Assuming that each set of measurements has the same probability of being selected, q is estimated to be (Torr and Zisserman, 2000)...
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1,351 citations
"Height Aiding, C/N 0 Weighting and ..." refers background or methods in this paper
...5 A set of “residuals” for this MSS, ei, is then calculated using ei = z̃− ẑ+i, (11) where ẑ+i is the set of measurements predicted from the ith MSS position and time solution, x̂+i (Groves, 2013)....
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...The line-of-sight vectors 656 PAUL D GROVES AND ZIYI JIANG VOL. 66 and predicted pseudo-ranges, ρ̂ j−a,C , are given by ueaj ≈ r̂eej − r̂e−ea r̂eej − r̂e−ea ∣∣∣ ∣∣∣ , (4) ρ̂j−a,C = r̂eej − r̂e−ea [ ]T r̂eej − r̂e−ea [ ]√ + δρ̂a−c + δj[GLδρ̂GL−c + δρ̂j−ie,a, (5) where r̂eej is the position of satellite j, r̂ e− ea is the predicted user position, δρ̂ a− c is the predicted receiver clock offset, δρ̂GL−c is the predicted GLONASS-GPS timing offset, δρ̂ j−ie,a is the satellite j Sagnac correction and δj[GL is 1 for GLONASS satellites and 0 otherwise (Groves, 2013)....
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...…r̂eej is the position of satellite j, r̂ e− ea is the predicted user position, δρ̂ a− c is the predicted receiver clock offset, δρ̂GL−c is the predicted GLONASS-GPS timing offset, δρ̂ j−ie,a is the satellite j Sagnac correction and δj[GL is 1 for GLONASS satellites and 0 otherwise (Groves, 2013)....
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...Once the MSS has been generated, an exact position and time solution, x̂+i, may be obtained using leastsquares estimation (Groves, 2013) x̂+i = x̂− +He,iG −1(z̃i − ẑi−), (10) where HG e,i comprises the rows of the measurement matrix, HG e , given by (3), which correspond to the ith MSS, ẑi−…...
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...The resulting code tracking error depends on the receiver design as well as the direct and reflected signal strengths, path delay and phase difference, and can be up to half a code chip (Van Nee, 1992; Braasch, 1996; Groves, 2013)....
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483 citations
"Height Aiding, C/N 0 Weighting and ..." refers background or methods in this paper
...5 A set of “residuals” for this MSS, ei, is then calculated using ei = z̃− ẑ+i, (11) where ẑ+i is the set of measurements predicted from the ith MSS position and time solution, x̂+i (Groves, 2013)....
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...The line-of-sight vectors 656 PAUL D GROVES AND ZIYI JIANG VOL. 66 and predicted pseudo-ranges, ρ̂ j−a,C , are given by ueaj ≈ r̂eej − r̂e−ea r̂eej − r̂e−ea ∣∣∣ ∣∣∣ , (4) ρ̂j−a,C = r̂eej − r̂e−ea [ ]T r̂eej − r̂e−ea [ ]√ + δρ̂a−c + δj[GLδρ̂GL−c + δρ̂j−ie,a, (5) where r̂eej is the position of satellite j, r̂ e− ea is the predicted user position, δρ̂ a− c is the predicted receiver clock offset, δρ̂GL−c is the predicted GLONASS-GPS timing offset, δρ̂ j−ie,a is the satellite j Sagnac correction and δj[GL is 1 for GLONASS satellites and 0 otherwise (Groves, 2013)....
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...…r̂eej is the position of satellite j, r̂ e− ea is the predicted user position, δρ̂ a− c is the predicted receiver clock offset, δρ̂GL−c is the predicted GLONASS-GPS timing offset, δρ̂ j−ie,a is the satellite j Sagnac correction and δj[GL is 1 for GLONASS satellites and 0 otherwise (Groves, 2013)....
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...Once the MSS has been generated, an exact position and time solution, x̂+i, may be obtained using leastsquares estimation (Groves, 2013) x̂+i = x̂− +He,iG −1(z̃i − ẑi−), (10) where HG e,i comprises the rows of the measurement matrix, HG e , given by (3), which correspond to the ith MSS, ẑi−…...
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...where ẑ+i is the set of measurements predicted from the i MSS position and time solution, x̂+i (Groves, 2013)....
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