Optimal Particle Filter Weight for Bayesian Direct Position Estimation in a GNSS Receiver.
Optimal Particle Filter Weight for Bayesian Direct Position Estimation in a GNSS Receiver.
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DOI：
10.3390/s18082736
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发表时间：
2018-08-20
期刊：
影响因子：
--
通讯作者：
Pany T
中科院分区：
文献类型：
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作者：
Dampf J;Frankl K;Pany T
直接位置估计（DPE）是一种较新的全球导航卫星系统（GNSS）技术，其直接从接收到的GNSS信号与接收机内部副本信号的相关值来估计用户的位置、速度和时间（PVT）。如果与贝叶斯非线性滤波器相结合，如粒子滤波器，该方法允许处理多模态概率分布，并避免了线性化步骤，将相关值转换为伪距。测量更新方程（粒子权重更新）是从一个标准的GNSS信号模型，但我们表明，它不能直接用于接收器的实现。公式的数值计算需要在对数尺度下进行，包括各种归一化。此外，剩余用户距离误差（来自轨道，卫星时钟，多径或电离层误差）需要从一开始就包括在随机信号模型中。通过这些修改，可以从GNSS多相关器值导出合理的概率函数。多路径的出现产生概率密度函数的自然加宽。在基于贝叶斯DPE接收机的实时软件环境中，使用具有1.023 MHz码率（BPSK（1））的模拟和真实二进制相移键控信号演示了该方法。
Direct Position Estimation (DPE) is a rather new Global Navigation Satellite System (GNSS) technique to estimate the user position, velocity and time (PVT) directly from correlation values of the received GNSS signal with receiver internal replica signals. If combined with Bayesian nonlinear filters—like particle filters—the method allows for coping with multi-modal probability distributions and avoids the linearization step to convert correlation values into pseudoranges. The measurement update equation (particle weight update) is derived from a standard GNSS signal model, but we show that it cannot be used directly in a receiver implementation. The numerical evaluation of the formulas needs to be carried out in a logarithmic scale including various normalizations. Furthermore, the residual user range errors (coming from orbit, satellite clock, multipath or ionospheric errors) need to be included from the very beginning in the stochastic signal model. With these modifications, sensible probability functions can be derived from the GNSS multi-correlator values. The occurrence of multipath yields a natural widening of the probability density function. The approach is demonstrated with simulated and real-world Binary Phase Shift Keying signals with 1.023 MHz code rate (BPSK(1)) within the context of a real-time software based Bayesian DPE receiver.
DOI：
10.1049/ip-f-2.1993.0015
发表时间：
1993-04-01
期刊：
IEE PROCEEDINGS-F RADAR AND SIGNAL PROCESSING
影响因子：
--
作者：
GORDON, NJ;SALMOND, DJ;SMITH, AFM
通讯作者：
SMITH, AFM
影响因子：
14.9
作者：
Closas, Pau;Gusi-Amigo, Adria
通讯作者：
Gusi-Amigo, Adria
影响因子：
5.4
作者：
Arulampalam, MS;Maskell, S;Clapp, T
通讯作者：
Clapp, T