Carrier Phase-Based Precise Heading and Pitch Estimation Using a Low-Cost GNSS Receiver
Attitude and heading estimation methods using the global navigation satellite system (GNSS) are generally based on multi-antenna deployment, where the installation space and system cost increase with the increase in the number of antennas. Since the single-antenna receiver is still the major choice...
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doaj-6df17a117f9e452680a54b7f70188f1d2021-09-26T01:16:54ZengMDPI AGRemote Sensing2072-42922021-09-01133642364210.3390/rs13183642Carrier Phase-Based Precise Heading and Pitch Estimation Using a Low-Cost GNSS ReceiverWei Ding0Wei Sun1Yang Gao2Jiaji Wu3Department of Geomatics Engineering, Schulich School of Engineering, University of Calgary, Calgary, AB T2N 1N4, CanadaSchool of Geomatics, Liaoning Technical University, Fuxin 123000, ChinaDepartment of Geomatics Engineering, Schulich School of Engineering, University of Calgary, Calgary, AB T2N 1N4, CanadaGNSS Research Center, Wuhan University, Wuhan 430072, ChinaAttitude and heading estimation methods using the global navigation satellite system (GNSS) are generally based on multi-antenna deployment, where the installation space and system cost increase with the increase in the number of antennas. Since the single-antenna receiver is still the major choice of the mass market, we focus on precise and reliable heading and pitch estimation using a low-cost GNSS receiver. Carrier phase observations are precise but have an ambiguity problem. A single difference between consecutive epochs can eliminate ambiguity and reduce the measurement errors. In this work, a measurement model based on the time-differenced carrier phases (TDCPs) is utilized to estimate the precise delta position of the antenna between two consecutive epochs. Then, considering the motion constraint, the heading and pitch angles of a moving land vehicle can be determined by the components of the estimated receiver delta position. A threshold on the length of the delta position is selected to avoid large errors in static periods. To improve the reliability of the algorithm, the Doppler-aided cycle slip detection method is applied to exclude carrier phases with possible cycle slips. A real vehicular dynamic experiment using a low-cost, single-frequency GNSS receiver is conducted to evaluate the proposed algorithm. The experimental results show that the proposed algorithm is capable of providing precise vehicular heading and pitch estimates, with both the root mean square errors being better than 1.5°. This also indicates that the cycle slip exclusion is indispensable to avoid unexpected large errors.https://www.mdpi.com/2072-4292/13/18/3642heading and pitch estimationtime-differenced carrier phasescycle slipsdoppler measurementslow-cost GNSS receiver |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Wei Ding Wei Sun Yang Gao Jiaji Wu |
spellingShingle |
Wei Ding Wei Sun Yang Gao Jiaji Wu Carrier Phase-Based Precise Heading and Pitch Estimation Using a Low-Cost GNSS Receiver Remote Sensing heading and pitch estimation time-differenced carrier phases cycle slips doppler measurements low-cost GNSS receiver |
author_facet |
Wei Ding Wei Sun Yang Gao Jiaji Wu |
author_sort |
Wei Ding |
title |
Carrier Phase-Based Precise Heading and Pitch Estimation Using a Low-Cost GNSS Receiver |
title_short |
Carrier Phase-Based Precise Heading and Pitch Estimation Using a Low-Cost GNSS Receiver |
title_full |
Carrier Phase-Based Precise Heading and Pitch Estimation Using a Low-Cost GNSS Receiver |
title_fullStr |
Carrier Phase-Based Precise Heading and Pitch Estimation Using a Low-Cost GNSS Receiver |
title_full_unstemmed |
Carrier Phase-Based Precise Heading and Pitch Estimation Using a Low-Cost GNSS Receiver |
title_sort |
carrier phase-based precise heading and pitch estimation using a low-cost gnss receiver |
publisher |
MDPI AG |
series |
Remote Sensing |
issn |
2072-4292 |
publishDate |
2021-09-01 |
description |
Attitude and heading estimation methods using the global navigation satellite system (GNSS) are generally based on multi-antenna deployment, where the installation space and system cost increase with the increase in the number of antennas. Since the single-antenna receiver is still the major choice of the mass market, we focus on precise and reliable heading and pitch estimation using a low-cost GNSS receiver. Carrier phase observations are precise but have an ambiguity problem. A single difference between consecutive epochs can eliminate ambiguity and reduce the measurement errors. In this work, a measurement model based on the time-differenced carrier phases (TDCPs) is utilized to estimate the precise delta position of the antenna between two consecutive epochs. Then, considering the motion constraint, the heading and pitch angles of a moving land vehicle can be determined by the components of the estimated receiver delta position. A threshold on the length of the delta position is selected to avoid large errors in static periods. To improve the reliability of the algorithm, the Doppler-aided cycle slip detection method is applied to exclude carrier phases with possible cycle slips. A real vehicular dynamic experiment using a low-cost, single-frequency GNSS receiver is conducted to evaluate the proposed algorithm. The experimental results show that the proposed algorithm is capable of providing precise vehicular heading and pitch estimates, with both the root mean square errors being better than 1.5°. This also indicates that the cycle slip exclusion is indispensable to avoid unexpected large errors. |
topic |
heading and pitch estimation time-differenced carrier phases cycle slips doppler measurements low-cost GNSS receiver |
url |
https://www.mdpi.com/2072-4292/13/18/3642 |
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