goGPS: open source software for enhancing the accuracy of low-cost receivers by single-frequency relative kinematic positioning
goGPS: open source software for enhancing the accuracy of low-cost receivers by single-frequency relative kinematic positioning
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DOI：
10.1088/0957-0233/24/11/115010
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发表时间：
2013-11-01
影响因子：
2.4
通讯作者：
Reguzzoni, Mirko
中科院分区：
文献类型：
--
作者：
Realini, Eugenio;Reguzzoni, Mirko
GOGPS是一个免费的开源卫星定位软件包，旨在为研究和教学目的提供协作平台。它于2009年首次发布，从那时起，几个相关的项目正在进行中。它的目的是研究提高低成本单频GPS接收器准确性的策略，主要是通过相对于基站的相对定位以及量身定制的扩展的Kalman滤波器直接在代码和相位观测上工作。在本文中，提出了在GOGP中实现的定位算法，强调了软件设计的模块化。还提出和讨论了两种支持低成本接收器导航的特定策略，即在接收器信噪比上校准的经验观察加权函数，以及从数字地形模型中包含了高度信息，以作为数字地形模型的附加观察。卡尔曼过滤器。前者在使用高敏性接收器时至关重要，而后者可以显着改善垂直方向的位置。通过与双频接收器以及由标准的低成本接收器计算的定位来评估总体GOGPS定位精度。校准的加权功能和数字地形模型的好处是在密集的城市环境中进行的。出来的是，使用GOGP和低成本接收器会导致结果与高级接收器获得的结果相当； GOGP在密集的城市环境中也表现出色，其其他功能起着重要作用。
goGPS is a free and open source satellite positioning software package aiming to provide a collaborative platform for research and teaching purposes. It was first published in 2009 and since then several related projects are on-going. Its objective is the investigation of strategies for enhancing the accuracy of low-cost single-frequency GPS receivers, mainly by relative positioning with respect to a base station and by a tailored extended Kalman filter working directly on code and phase observations. In this paper, the positioning algorithms implemented in goGPS are presented, emphasizing the modularity of the software design; two specific strategies to support the navigation with low-cost receivers are also proposed and discussed, namely an empirical observation weighting function calibrated on the receiver signal-to-noise ratio and the inclusion of height information from a digital terrain model as an additional observation in the Kalman filter. The former is crucial when working with high-sensitivity receivers, while the latter can significantly improve the positioning in the vertical direction. The overall goGPS positioning accuracy is assessed by comparison with a dual-frequency receiver and with the positioning computed by a standard low-cost receiver. The benefits of the calibrated weighting function and the digital terrain model are investigated by an experiment in a dense urban environment. It comes out that the use of goGPS and low-cost receivers leads to results comparable with those obtained by higher level receivers; goGPS has good performances also in a dense urban environment, where its additional features play an important role.