Optimal Particle Filter Weight for Bayesian Direct Position Estimation in a GNSS Receiver

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...

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Bibliographic Details
Published inSensors (Basel, Switzerland) Vol. 18; no. 8; p. 2736
Main Authors Dampf, Jürgen, Frankl, Kathrin, Pany, Thomas
Format Journal Article
LanguageEnglish
Published Switzerland MDPI AG 20.08.2018
MDPI
Subjects
Algorithms
Bayesian analysis
Bayesian direct position estimation
BDPE
Binary phase shift keying
Computer simulation
Correlation analysis
Estimates
GNSS
Navigation satellites
Nonlinear filters
optimal particle weight
particle filter
Probability density functions
Range errors
Satellites
Sensors
Signal processing
software receiver
Software upgrading
Urban areas
United States > US
Germany
Spain
BDPE
optimal particle weight
particle filter
software receiver
GNSS
Bayesian direct position estimation
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Summary: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.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s18082736