A GEO-pivoted adaptive extended Kalman filtering method in low-latitude dense building environment

•Present the error characteristic of NLOS/multipath signal.•Verify the correlation between NLOS/multipath signal and innovation vectors.•An adaptive estimation for the measurement noise matrix.•Multi-lap car tests fully validate the usability in NLOS/multipath environment. Non-line-of-sight (NLOS) o...

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Bibliographic Details
Published in:Measurement : journal of the International Measurement Confederation 2021-03, Vol.173, p.108657, Article 108657
Main Authors: Yin, Xiao, Chai, Hongzhou, Xiang, Minzhi, Du, Zhenqiang, Tian, Xiangyu
Format: Article
Language:English
Subjects:
Adaptive filters
Algorithms
Correlation coefficients
Covariance
Dense building environment
Elevation angle
Extended Kalman filtering
Geosynchronous earth orbit satellite
Innovation-based adaptive
Innovations
Kalman filters
Latitude
Measurement
Multipath signals
Noise
Noise measurement
Non-line-of sight signals
Velocity
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Summary:•Present the error characteristic of NLOS/multipath signal.•Verify the correlation between NLOS/multipath signal and innovation vectors.•An adaptive estimation for the measurement noise matrix.•Multi-lap car tests fully validate the usability in NLOS/multipath environment. Non-line-of-sight (NLOS) or multipath signals can cause unexpected measurement noise, which will degrade the solution performance of extended Kalman filtering (EKF). Traditionally, a method of covariance matching is used to make the actual residuals consistent with their theoretical covariance. However, this innovation-based adaptive estimation (IAE) of the measurement noise often uses multiple epoch observations, which will be insensitive to the rapidly changing scene. To solve the issue, an improved IAE is proposed, which considers the high elevation angle of geosynchronous earth orbit (GEO) satellites in low-latitude regions. Correlation coefficients between the actual error and single differencing innovations verify the method. The real car tests show that 3-D positioning and velocity determination accuracy are improved from 2.00 m to 1.44 m, and 11.27 cm/s to 7.03 cm/s, respectively. In addition, this method does not store multiple epoch observations, which is convenient for real-time positioning of heavy NLOS and multipath environments.
ISSN:0263-2241
1873-412X
DOI:10.1016/j.measurement.2020.108657