A New Robust Adaptive Fading Unscented Kalman Filter-Based Vector Tracking Loop for Mitigating GNSS NLOS Reception
The positioning accuracy of global navigation satellite system (GNSS) in urban areas can be significantly affected by non-line-of-sight (NLOS) receptions. Vector tracking loop (VTL) which utilizes information from multiple satellites has been proposed for mitigating the NLOS detection. This paper de...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2025-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10815937/ |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841536192471891968 |
|---|---|
| author | Mengxia He Shing-Chow Chan Bo Chai Zhong Liu |
| author_facet | Mengxia He Shing-Chow Chan Bo Chai Zhong Liu |
| author_sort | Mengxia He |
| collection | DOAJ |
| description | The positioning accuracy of global navigation satellite system (GNSS) in urban areas can be significantly affected by non-line-of-sight (NLOS) receptions. Vector tracking loop (VTL) which utilizes information from multiple satellites has been proposed for mitigating the NLOS detection. This paper develops a robust adaptive fading unscented Kalman filter (AF-UKF-) based navigation filter for NLOS mitigation in VTL-based systems. It integrates the AF-KF approach previously proposed for adaptive Bayesian KF to the UKF-based navigation filter to update the scale of the state and measurement noise covariances so that system noise and measurement uncertainties can be mitigated. A robust extension of the AF-UKF algorithm based on robust statistics is proposed to effectively detect and correct NLOS reception in each KF update. A robust initialization method is also proposed to provide a reliable warm start to the robust AF-UKF so that the latter can reliably start-up even under NLOS reception and limited initial position information. The proposed method was evaluated and compared with conventional algorithms using real GPS signal datasets and simulated data. Results showed that the proposed navigation solution yields more accurate and reliable positioning performance than conventional methods under NLOS reception. The advantage and stability of the AF-KF and AF-UKF are also analyzed. |
| format | Article |
| id | doaj-art-953959b1bc944f4ab2ed98fb383a79b3 |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-953959b1bc944f4ab2ed98fb383a79b32025-01-15T00:01:29ZengIEEEIEEE Access2169-35362025-01-01134774478810.1109/ACCESS.2024.352257810815937A New Robust Adaptive Fading Unscented Kalman Filter-Based Vector Tracking Loop for Mitigating GNSS NLOS ReceptionMengxia He0https://orcid.org/0000-0001-8004-4895Shing-Chow Chan1https://orcid.org/0000-0001-7212-4182Bo Chai2https://orcid.org/0000-0002-4976-1877Zhong Liu3https://orcid.org/0000-0001-9650-6097Department of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong, SAR, ChinaDepartment of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong, SAR, ChinaDepartment of Electrical and Electronic Engineering, The University of Hong Kong, Hong Kong, SAR, ChinaDepartment of Biomedical Engineering, Shenzhen University, Shenzhen, ChinaThe positioning accuracy of global navigation satellite system (GNSS) in urban areas can be significantly affected by non-line-of-sight (NLOS) receptions. Vector tracking loop (VTL) which utilizes information from multiple satellites has been proposed for mitigating the NLOS detection. This paper develops a robust adaptive fading unscented Kalman filter (AF-UKF-) based navigation filter for NLOS mitigation in VTL-based systems. It integrates the AF-KF approach previously proposed for adaptive Bayesian KF to the UKF-based navigation filter to update the scale of the state and measurement noise covariances so that system noise and measurement uncertainties can be mitigated. A robust extension of the AF-UKF algorithm based on robust statistics is proposed to effectively detect and correct NLOS reception in each KF update. A robust initialization method is also proposed to provide a reliable warm start to the robust AF-UKF so that the latter can reliably start-up even under NLOS reception and limited initial position information. The proposed method was evaluated and compared with conventional algorithms using real GPS signal datasets and simulated data. Results showed that the proposed navigation solution yields more accurate and reliable positioning performance than conventional methods under NLOS reception. The advantage and stability of the AF-KF and AF-UKF are also analyzed.https://ieeexplore.ieee.org/document/10815937/Global navigation satellite system (GNSS)non-line-of-sight (NLOS) receptionvector tracking loops (VTLs)adaptive fading unscented Kalman filterrobust initialization |
| spellingShingle | Mengxia He Shing-Chow Chan Bo Chai Zhong Liu A New Robust Adaptive Fading Unscented Kalman Filter-Based Vector Tracking Loop for Mitigating GNSS NLOS Reception IEEE Access Global navigation satellite system (GNSS) non-line-of-sight (NLOS) reception vector tracking loops (VTLs) adaptive fading unscented Kalman filter robust initialization |
| title | A New Robust Adaptive Fading Unscented Kalman Filter-Based Vector Tracking Loop for Mitigating GNSS NLOS Reception |
| title_full | A New Robust Adaptive Fading Unscented Kalman Filter-Based Vector Tracking Loop for Mitigating GNSS NLOS Reception |
| title_fullStr | A New Robust Adaptive Fading Unscented Kalman Filter-Based Vector Tracking Loop for Mitigating GNSS NLOS Reception |
| title_full_unstemmed | A New Robust Adaptive Fading Unscented Kalman Filter-Based Vector Tracking Loop for Mitigating GNSS NLOS Reception |
| title_short | A New Robust Adaptive Fading Unscented Kalman Filter-Based Vector Tracking Loop for Mitigating GNSS NLOS Reception |
| title_sort | new robust adaptive fading unscented kalman filter based vector tracking loop for mitigating gnss nlos reception |
| topic | Global navigation satellite system (GNSS) non-line-of-sight (NLOS) reception vector tracking loops (VTLs) adaptive fading unscented Kalman filter robust initialization |
| url | https://ieeexplore.ieee.org/document/10815937/ |
| work_keys_str_mv | AT mengxiahe anewrobustadaptivefadingunscentedkalmanfilterbasedvectortrackingloopformitigatinggnssnlosreception AT shingchowchan anewrobustadaptivefadingunscentedkalmanfilterbasedvectortrackingloopformitigatinggnssnlosreception AT bochai anewrobustadaptivefadingunscentedkalmanfilterbasedvectortrackingloopformitigatinggnssnlosreception AT zhongliu anewrobustadaptivefadingunscentedkalmanfilterbasedvectortrackingloopformitigatinggnssnlosreception AT mengxiahe newrobustadaptivefadingunscentedkalmanfilterbasedvectortrackingloopformitigatinggnssnlosreception AT shingchowchan newrobustadaptivefadingunscentedkalmanfilterbasedvectortrackingloopformitigatinggnssnlosreception AT bochai newrobustadaptivefadingunscentedkalmanfilterbasedvectortrackingloopformitigatinggnssnlosreception AT zhongliu newrobustadaptivefadingunscentedkalmanfilterbasedvectortrackingloopformitigatinggnssnlosreception |