Wireless Personal Communications

, Volume 79, Issue 1, pp 211–221 | Cite as

Real-Time Receiver Clock Jump Detection for Code Absolute Positioning with Kalman Filter

  • Antonio Angrisano
  • Salvatore Gaglione
  • Salvatore Troisi
Article

Abstract

In global navigation satellite systems (GNSS) navigation the receiver and satellite clocks play a key role. The receivers are usually equipped with inaccurate quartz clocks, which experiment large drift relative to system time and consequently offset growing very fast; receiver manufactures bound the magnitude of the receiver clock offset to prevent it becomes too large and the actual bounding procedures vary from one manufacturer to another. The most common approach consists of introducing discrete jumps when the offset exceeds a threshold (usually 1 ms). This method is common in low-cost GNSS receivers and influences several applications as differential positioning, cycle-slip detection, precise point positioning technique, absolute positioning with Kalman filter. In this work some techniques to detect and account for millisecond clock jump, suitable for code positioning of a single receiver with Kalman filter, are proposed. Two deterministic algorithms to detect receiver clock jumps are shown: in measurement and parameter domain. The technique in measurement domain uses current pseudorange measurements compared with pseudorange and Doppler measurements at previous epoch; the technique in parameter domain compares current and previous least squares estimations of receiver clock bias, considering the clock drift. Two different approaches are described to account for the clock jumps, once detected, a deterministic one, consisting of fixing the pseudorange discontinuities, and a statistic one, consisting of suitably varying the Kalman filter settings. A static GNSS data set is processed with and without the proposed algorithms to demonstrate their efficiency.

Keywords

GNSS Clock jump Kalman filter Absolute positioning with pseudorange 

References

  1. 1.
    Hoffmann-Wellenhof, B., Lichtenegger, H., & Collins, J. (1992). Global positioning system: Theory and practice. Wien: Springer.CrossRefGoogle Scholar
  2. 2.
    Kaplan, E. D., & Hegarty, J. (2006). Understanding GPS: Principles and applications (2nd ed.). London: Artech House.Google Scholar
  3. 3.
    Angrisano, A., Gaglione, S., Gioia, C., Borio, D., & Fortuny-Guasch, J. (2013). Testing the test satellites: The Galileo IOV measurement accuracy. In International conference on localization and GNSS, ICL-GNSS 2013.Google Scholar
  4. 4.
    Angrisano, A., Gaglione, S., & Gioia, C. (2013). Performance assessment of GPS/GLONASS single point positioning in an urban environment. Acta Geodaetica et Geophysica, 48(2), 149–161.CrossRefGoogle Scholar
  5. 5.
    Petovello, M. (2011). GNSS solutions: Clock offsets in GNSS receivers. Inside GNSS 23–25.Google Scholar
  6. 6.
    Kim, H. S., & Lee, H. K. (2012). Elimination of clock jump effects in low-quality differential GPS measurements. Journal of Electrical Engineering & Technology, 7(4), 626–635.CrossRefGoogle Scholar
  7. 7.
    Kim, H. S., & Lee H. K. (2009). Compensation of time alignment error in heterogeneous GPS receivers. In Proceedings of the 13th IAIN world congress, 27–30 Oct, Stockholm, Sweden.Google Scholar
  8. 8.
    Kim, D., & Langley, R. B. (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, Banff, Alberta, Canada, 5–8 June 2001, pp. 255–264.Google Scholar
  9. 9.
    Kim, D., & Langley, R. B. (2002). Instantaneous real time cycle-slip correction for quality control of GPS carrier-phase measurements. Journal Of the Institute of Navigation, 49(4), 205–222.CrossRefGoogle Scholar
  10. 10.
    Guo, F., & Zhang, X. H. (2012). Real-time clock jump detection and repair for precise point positioning. In Proceedings of the ION GNSS 2012 (pp. 17–21). Nashville, USA.Google Scholar
  11. 11.
    Guo, F., & Zhang, X. (2013). Real-time clock jump compensation for precise point positioning. GPS Solutions. doi: 10.1007/s10291-012-0307-3.
  12. 12.
    Lonchay, M., Bidaine, B., & Warnant, R. (2011). An efficient dual and triple frequency preprocessing method for GALILEO and GPS signals. In Proceedings of the 3rd international colloquium scientific and fundamentals aspects of the GALILEO programme, Copenhagen, Denmark, 31 Augs–2 Sept.Google Scholar
  13. 13.
    Bar-shalom, Y., Li, X., & Kirubarajan, T. (2001). Estimation with applications to tracking and navigation. New York: Willey.CrossRefGoogle Scholar
  14. 14.
    Kalman, R. E. (1960). A new approach to linear filtering and prediction problems. Trans. ASME J. Basic Engr. pp. 35–45.Google Scholar
  15. 15.
    Parkinson, B., & Spilker, J. J. (1996). Global positioning system: Theory and applications (Vol. 1–2). Washington, DC: American Institute of Aeronautics and Astronautics.Google Scholar
  16. 16.
    Angrisano, A., Gaglione, S., & Gioia (2012). RAIM algorithms for aided GNSS in urban scenario. In Proceedings of the ubiquitous positioning indoor navigation and location based service, Helsinki, Finland, October 2012.Google Scholar

Copyright information

© Springer Science+Business Media New York 2014

Authors and Affiliations

  • Antonio Angrisano
    • 1
  • Salvatore Gaglione
    • 1
  • Salvatore Troisi
    • 1
  1. 1.DiST Department, Centro Direzionale di Napoli C4Parthenope University of NaplesNaplesItaly

Personalised recommendations