Abstract
Recently, unmanned aerial vehicle (UAV) technology has been growing rapidly and widely used in civil applications, such as aerial mapping, precise agriculture, power line patrolling. However, most of high precision position and orientation systems (POS) are still heavy and expensive, so they are still unpractical to be equipped on UAV. In this study, we investigated the feasibility of providing precise navigation and positioning service for UAV with single frequency GPS/BDS receiver. The challenges of precise positioning for UAV with low cost receivers are threefold: (1) signal captured with low cost receivers and antennas has poorer quality and interference immunity. (2) UAV moves fast and flexible. (3) UAV navigation requires real time and high reliable positioning solution. GPS-based single frequency can provide centimeter accuracy positioning in friendly environments, while its availability and reliability is difficult to meet the requirement. In this study, we introduced GPS/BDS combined RTK positioning, which increases the redundancy number and improved the precision and reliability of float solution. Meanwhile, we analyzed the signal and antenna gain characteristics of low cost receiver and antenna, and established a refined stochastic model for GPS and BDS observations. We also made use of the Doppler observations to improve the kinematic model and quality control, which significantly improves the success rate of carrier phase ambiguity resolution in single frequency RTK case. In order to validate the performance of our algorithm, we carried out in-flight tests with Tersus single frequency GPS/BDS receiver and analyzed the test results. The results indicate that our RTK algorithm can improve the fix rate of ambiguity resolution from 36 % to around 60 % in challenging environments. We also validated that GPS/BDS RTK has better availability and reliability than GPS stand-alone RTK.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Baarda, W (1968) A testing procedure for use in geodetic networks. Netherlands Geodetic Commission, Delft, The Netherlands. Available at: http://adsabs.harvard.edu/abs/1968QB296.N4A3v2n5. Accessed 4 Dec 2013
Blewitt G (1990) An automatic editing algorithm for GPS data. Geophys Res Lett 17(3):199–202. Available at: http://onlinelibrary.wiley.com/doi/10.1029/GL017i003p00199/full. Accessed 4 Dec 2013
Brunner FK, Hartinger H, Troyer L (1999) GPS signal diffraction modelling: the stochastic SIGMA-Δ model. J Geodesy 73(5):259–267
Dai Z (2012) MATLAB software for GPS cycle-slip processing. GPS Solutions 16(2):267–272. Available at: http://link.springer.com/10.1007/s10291-011-0249-1. Accessed 8 Nov 2013
Ge L, Han S, Rizos C (2000) Multipath mitigation of continuous GPS measurements using an adaptive filter. GPS Solutions 4(2):19–30
Görres B et al (2006) Absolute calibration of GPS antennas: laboratory results and comparison with field and robot techniques. GPS Solutions 10(2):136–145. Available at: http://dx.doi.org/10.1007/s10291-005-0015-3
Kim D, Langley RB (2001) Instantaneous real-time cycle-slip correction of dual frequency GPS data. In: Proceedings of the international symposium on kinematic systems in geodesy, geomatics and navigation, pp 255–264. Available at: http://gauss.gge.unb.ca/papers.pdf/kis01.kim.pdf
Langley RB (1997) The GPS error budget. GPS World 8(3):51–56
Park K-D et al (2004) Site-specific multipath characteristics of global IGS and CORS GPS sites. J Geodesy 77(12):799–803. Available at: http://dx.doi.org/10.1007/s00190-003-0359-9
Schmid R et al (2005) Absolute phase center corrections of satellite and receiver antennas. GPS Solutions 9(4):283–293. Available at: http://dx.doi.org/10.1007/s10291-005-0134-x
Takasu T, Yasuda A (2008) Evaluation of RTK-GPS performance with low-cost single-frequency GPS receivers. In: Proceedings of international symposium on GPS/GNSS, pp 852–861. Available at: http://www.gnss-pnt.org/symposium2008/abstract/oral/B12a/7-727-a.pdf
Uti S, Estey LH, Meertens CM (1999) TEQC: the multi-purpose toolkit for GPS/GLONASS data. GPS Solutions 3(1):42–49
Wu Y et al (2010) Cycle slip detection using multi-frequency GPS carrier phase observations: a simulation study. Adv Space Res 46(2):144–149
Yang Y, Gao W (2006) An optimal adaptive Kalman filter. J Geodesy 80(4):177–183. Available at: http://link.springer.com/10.1007/s00190-006-0041-0. Accessed 4 Dec 2013
Wang L, Feng Y, Wang C (2013) Real-time assessment of GNSS observation noise with single receivers. J Global Positioning Syst 12(1):73–82
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer Science+Business Media Singapore
About this paper
Cite this paper
Wang, L., Wen, X., Huang, C. (2016). Application of Low Cost GPS/BDS Receiver in UAV Precise Navigation and Positioning. In: Sun, J., Liu, J., Fan, S., Wang, F. (eds) China Satellite Navigation Conference (CSNC) 2016 Proceedings: Volume I. Lecture Notes in Electrical Engineering, vol 388. Springer, Singapore. https://doi.org/10.1007/978-981-10-0934-1_16
Download citation
DOI: https://doi.org/10.1007/978-981-10-0934-1_16
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-10-0933-4
Online ISBN: 978-981-10-0934-1
eBook Packages: EngineeringEngineering (R0)