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- Alissa, S., et al.
(författare)
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Distribution of the adapted-NRTK correction data via VDES for the shipping navigation safety
- 2021
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Ingår i: Proceedings of the 34th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2021. - : Institute of Navigation. - 9780936406299 ; , s. 521-534
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Konferensbidrag (refereegranskat)abstract
- In this study the maritime communication system VDES (VHF Data Exchange System) is proposed to distribute Network-RTK (NRTK) correction data to shipborne GNSS receivers in fairways, port areas, or inland water ways. The transport layer used for transmission of VDES messages (related to the standard IEC61162-450) is the UDP multicast protocol. This makes it possible to transmit the RTCM packages from the VDES transponder to the shipborne GNSS receivers as a UDP payload without any additional formatting. In order to minimize the impact on the overall VDES data capacity in a local service area, NRTK correction data shall at most occupy a single VDES slot with a net capacity of 650 bytes denoted Link ID 19. This is the fastest link in VDES. Update rates may vary but are preferably at 1Hz. However, depending on the number of visible satellites NRTK correction data size changes instantly and the data rate can therefore sometimes be in excess of 1000 byte/s per reference station to be distributed. In order to comply with the VDES requirements, the Lantmäteriet Adjustment Solution (LAS) for GNSS correction data adjustment was developed and is presented in this paper. The responsibility of this solution is to produce a correction data stream that complies with the bandwidth limitation of 650 bytes/s. To provide corrections for a potentially large number of users, dissemination is done by broadcasting corrections for a grid of VRSs. The proposed solution has therefore also the capability to combine several correction data streams from several Virtual Reference Stations (VRSs) into one single correction data stream. To reduce the required data rate, the LAS has the ability to filter streamed GNSS correction data in the RTCM3 MSM format constellation-wise, satellite-wise, and signal-wise. The objective is to achieve optimal performance in terms of accuracy for the ship's differential positioning solution, while at the same time adhering to constraints that might locally apply for individual transmitters. For this paper LAS was configured to interface with the SWEPOS to provide reference data to static and kinematic testing scenarios. The results presented here were obtained using RTK post-processing with RTKLib for a combination of GPS and Galileo multi-frequency observations. Results indicated that LAS solution can achieve robust positioning performance with decimeter-level accuracy which meet the requirements expected for the navigation safety at Sea. Adapted-NRTK correction data (LAS data) via VDES has the potential to be part of a world-wide standard VDES application for all vessels sailing under SOLAS and for ships that voluntarily uses VDES in the near future (inland, yachts, navies, leisure).
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| 2. |
- Dutta, Uttama, et al.
(författare)
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Satellite selection in the context of network RTK for limited bandwidth applications
- 2021
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Ingår i: Proceedings of the 34th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2021. - : Institute of Navigation. - 2331-5954. - 9780936406299 ; , s. 2474-2492
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Konferensbidrag (refereegranskat)abstract
- The increasing number of modernized GNSS signals and the availability of multi-constellation receivers are crucial for improvements of both precision and robustness of GNSS based positioning. However, the abundance of GNSS observations is not always useable as applications, using differential positioning or other techniques, may have limitations with respect to computational resources or communication bandwidth for reference data, and therefore require a qualified selection of a subset of observations for positioning. This paper is based on the work conducted in the project PREParE SHIPS funded by the European Union Agency for the Space Programme (EUSPA) on the specific application of Maritime Navigation using Network Real Time Kinematic (NRTK) and will focus on the satellite selection algorithms of the Prepare Ships dissemination solution. This study is motivated by data rate requirements and restrictions of the VDES dissemination solution developed in Prepare Ships. The restricted data rate for dissemination of RTK observations via VDES implies the need for a qualified pre-selection of satellite subsets to match the available bandwidth and the requirements of the positioning system. For this, multiple algorithms have been developed and tested in static and dynamic scenarios. Optimization techniques for height (for vertical position), two and three dimensions were examined. Different weighting schemes were used. During the evolution of the satellite selection study, it was concluded that it is necessary to retain satellites with the highest elevation as this will empirically improve integer ambiguity resolution for position fixing. Also fixing a minimum number of satellites for each constellation was required to enable a fair weightage to the different constellations used. Such algorithms should prove to be very useful for research on various Network RTK applications which require/prefer limited bandwidth such as for cadastral surveying and mapping, for airborne geo-referencing of aerial mapping data using Unmanned Aerial Vehicles (UAV) and on the road and sea for positioning and navigation of automated transport. Additionally, these algorithms could also be extended to consider satellite visibility in e.g. urban areas (i.e. urban canyons) by inclusion of true surface information for more robust GNSS positioning in automated transport applications [1]. This could either be for pre-evaluation or for dynamically considering spatial information. While this work is a part of PREParE SHIPS, it is also motivated by a more general applicability of the algorithms presented for other similar applications. RTK correction dissemination with limited bandwidth requirements is very promising for RTK research and therefore this study on optimized selection of satellite subsets is of vital importance and could tap multiple opportunities of huge potential such as those involving NRTK or combination of Precise Point Positioning with RTK. © 2021 Proceedings of the 34th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2021.
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