An Enhanced Precise Carrier Phase Positioning Method for Vehicle Navigation
Precise carrier phase positioning is a widely used technique in vehicle navigation, localization, and mapping, which utilizes pseudorange and carrier phase measurements with the extended Kalman filter (EKF) to estimate position, velocity, and ambiguities. For highly accurate vehicle positioning requ...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10149332/ |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849714361448267776 |
|---|---|
| author | Qiangqiang Shuai Qiyi Pang Fangzhou Tang Zun Niu Bocheng Zhu |
| author_facet | Qiangqiang Shuai Qiyi Pang Fangzhou Tang Zun Niu Bocheng Zhu |
| author_sort | Qiangqiang Shuai |
| collection | DOAJ |
| description | Precise carrier phase positioning is a widely used technique in vehicle navigation, localization, and mapping, which utilizes pseudorange and carrier phase measurements with the extended Kalman filter (EKF) to estimate position, velocity, and ambiguities. For highly accurate vehicle positioning requirements, propagation errors of measurements need to be considered, especially the ionospheric delay, which is the most significant error source. In EKF, a priori information of different error characteristics can be fully utilized as constraints to obtain more precise state estimation results, even when no corrections are available. This paper aims to improve the positioning accuracy for vehicle navigation and proposes a spherical harmonic function (SHF)-based undifferenced and uncombined (UDUC) carrier phase positioning method for vehicles to fit the ionospheric delays of multiple satellites in a single formula and reduce the marginal effect caused by polynomials. Better positioning results are expected compared to traditional UDUC and polynomial fitting approaches. The feasibility of the proposed method is tested on a kinematic dataset from a real-world car test. The experimental results show that the proposed method outperforms the traditional UDUC and polynomial fitting methods, respectively, with a root mean square error of <inline-formula> <tex-math notation="LaTeX">$0.860m$ </tex-math></inline-formula> and a standard deviation of <inline-formula> <tex-math notation="LaTeX">$0.579m$ </tex-math></inline-formula> when using broadcast ephemeris. In summary, the results demonstrate that the proposed method is highly beneficial for precise vehicle navigation. |
| format | Article |
| id | doaj-art-2944ec557f0a46fbbaef5d1e41c68a4f |
| institution | DOAJ |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-2944ec557f0a46fbbaef5d1e41c68a4f2025-08-20T03:13:43ZengIEEEIEEE Access2169-35362025-01-011312248412249510.1109/ACCESS.2023.328581810149332An Enhanced Precise Carrier Phase Positioning Method for Vehicle NavigationQiangqiang Shuai0https://orcid.org/0000-0003-3507-8695Qiyi Pang1Fangzhou Tang2https://orcid.org/0000-0002-1852-3921Zun Niu3https://orcid.org/0000-0002-8599-7043Bocheng Zhu4School of Electronics, Peking University, Beijing, ChinaSchool of Electronics, Peking University, Beijing, ChinaSchool of Electronics, Peking University, Beijing, ChinaSchool of Electronics, Peking University, Beijing, ChinaSchool of Electronics, Peking University, Beijing, ChinaPrecise carrier phase positioning is a widely used technique in vehicle navigation, localization, and mapping, which utilizes pseudorange and carrier phase measurements with the extended Kalman filter (EKF) to estimate position, velocity, and ambiguities. For highly accurate vehicle positioning requirements, propagation errors of measurements need to be considered, especially the ionospheric delay, which is the most significant error source. In EKF, a priori information of different error characteristics can be fully utilized as constraints to obtain more precise state estimation results, even when no corrections are available. This paper aims to improve the positioning accuracy for vehicle navigation and proposes a spherical harmonic function (SHF)-based undifferenced and uncombined (UDUC) carrier phase positioning method for vehicles to fit the ionospheric delays of multiple satellites in a single formula and reduce the marginal effect caused by polynomials. Better positioning results are expected compared to traditional UDUC and polynomial fitting approaches. The feasibility of the proposed method is tested on a kinematic dataset from a real-world car test. The experimental results show that the proposed method outperforms the traditional UDUC and polynomial fitting methods, respectively, with a root mean square error of <inline-formula> <tex-math notation="LaTeX">$0.860m$ </tex-math></inline-formula> and a standard deviation of <inline-formula> <tex-math notation="LaTeX">$0.579m$ </tex-math></inline-formula> when using broadcast ephemeris. In summary, the results demonstrate that the proposed method is highly beneficial for precise vehicle navigation.https://ieeexplore.ieee.org/document/10149332/Carrier phase positioningstate estimationspherical harmonic functionundifferenced and uncombinedvehicle navigation |
| spellingShingle | Qiangqiang Shuai Qiyi Pang Fangzhou Tang Zun Niu Bocheng Zhu An Enhanced Precise Carrier Phase Positioning Method for Vehicle Navigation IEEE Access Carrier phase positioning state estimation spherical harmonic function undifferenced and uncombined vehicle navigation |
| title | An Enhanced Precise Carrier Phase Positioning Method for Vehicle Navigation |
| title_full | An Enhanced Precise Carrier Phase Positioning Method for Vehicle Navigation |
| title_fullStr | An Enhanced Precise Carrier Phase Positioning Method for Vehicle Navigation |
| title_full_unstemmed | An Enhanced Precise Carrier Phase Positioning Method for Vehicle Navigation |
| title_short | An Enhanced Precise Carrier Phase Positioning Method for Vehicle Navigation |
| title_sort | enhanced precise carrier phase positioning method for vehicle navigation |
| topic | Carrier phase positioning state estimation spherical harmonic function undifferenced and uncombined vehicle navigation |
| url | https://ieeexplore.ieee.org/document/10149332/ |
| work_keys_str_mv | AT qiangqiangshuai anenhancedprecisecarrierphasepositioningmethodforvehiclenavigation AT qiyipang anenhancedprecisecarrierphasepositioningmethodforvehiclenavigation AT fangzhoutang anenhancedprecisecarrierphasepositioningmethodforvehiclenavigation AT zunniu anenhancedprecisecarrierphasepositioningmethodforvehiclenavigation AT bochengzhu anenhancedprecisecarrierphasepositioningmethodforvehiclenavigation AT qiangqiangshuai enhancedprecisecarrierphasepositioningmethodforvehiclenavigation AT qiyipang enhancedprecisecarrierphasepositioningmethodforvehiclenavigation AT fangzhoutang enhancedprecisecarrierphasepositioningmethodforvehiclenavigation AT zunniu enhancedprecisecarrierphasepositioningmethodforvehiclenavigation AT bochengzhu enhancedprecisecarrierphasepositioningmethodforvehiclenavigation |