Reliable GNSS Joint Position and Attitude Estimation in Harsh Environments through Robust Statistics - Archive ouverte HAL Accéder directement au contenu
Proceedings/Recueil Des Communications 2022 IEEE Aerospace Conference (AERO) Année : 2022

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

Résumé

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.
Fichier principal
Vignette du fichier
Reliable_GNSS_Joint_Position_and_Attitude_Estimation_in_Harsh_Environments_through_Robust_Statistics.pdf (1.91 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-03947164 , version 1 (19-01-2023)

Identifiants

Citer

Andrea Belles, Daniel Medina, Paul Chauchat, Jordi Vila-Valls. Reliable GNSS Joint Position and Attitude Estimation in Harsh Environments through Robust Statistics. 2022 IEEE Aerospace Conference (AERO), IEEE, pp.1-9, 2022, ⟨10.1109/AERO53065.2022.9843300⟩. ⟨hal-03947164⟩
10 Consultations
43 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More