Abstract
An Extended Kalman Filter (EKF) based exact user position algorithm for the terrestrial navigation system is developed. The major advantage of such algorithm is that it does not require any initial guess since terrestrial systems are very sensitive to the initial guess for convergence to the true solution. Furthermore, a comparison of the iterative exact algorithm without EKF and with EKF was done on the data collected from an experiment with four terrestrial transmitters. It is observed that after applying EKF, the algorithm outperforms iterative exact solution in terms of accuracy and precision both. Horizontal, vertical position accuracies and RSS errors obtained using iterative exact solution are 9.09, 24.23 and 25.88 m whereas EKF based solution are 66 cm, 1.5 m and 1.69 m respectively with standard deviation (SD) of position errors significantly reduced to 33 cm.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Shukla, A., Bansal, K., Ganatra, A.: Development of user position algorithm for terrestrial navigation system. In: 4th International Conference on Science, Technology and Management (ICSTM2017), vol. 4, no. 11, pp. 140–144. International Journal of Engineering Technology Science and Research (IJETSR) (2017)
Mazher, K., Tahir, M., Ali, K.: GNSS pseudorange smoothing: linear vs non-linear filtering paradigm. In: IEEE Aerospace Conference (2016)
Zhao, S., Yao, Z., Yin, J., Lu, M.: Application of extended and unscented kalman filtering for non-linear positioning in nearby region of navigation sources. In: Proceedings of the International Technical Meeting (ITM), 26–28 January, pp. 640–650. ION, Dana Point, California (2015)
Zhao, S., Cui, X., Guan, F.: A Kalman filter-based short baseline RTK algorithm for single-frequency combination of GPS and BDS. Sensors 14, 15415–15433 (2014)
Wan, X., Zhan, X.: The research of indoor navigation system using pseudolites. In: Procedia Engineering, vol. 15, pp. 1446–1450. Elsevier (2011)
So, H., Lee, T., Jeon, S., Kim, C., Kee, C., Kim, T., Lee, S.: Implementation of a vector-based tracking loop receiver in a pseudolite navigation system. Sensors 10, 6324–6346 (2010)
Pachter, J., Amt, J., Raquet, J.: Accurate positioning using a planar pseudolite array. IEEE, pp. 433–440 (2008)
Shockley, J., Raquet, J.: Estimation and mitigation of unmodeled errors for a pseudolite based reference system. In: 19th International Technical Meeting of the Satellite Division, 26–29 September, pp. 853–862. ION GNSS, Fort Worth (2006)
Bouska, T., Raquet, J., Maybeck, P.: The use of optimal smoothing and nonlinear filtering in pseudolite-based positioning systems. In: 59th Annual Meeting, 23–25 June, pp. 435–443. ION, Albuquerque (2003)
Sirola, N.: Closed-form algorithms in mobile positioning: myths and misconceptions. In: Positioning Navigation and Communication (WPNC) 7th Workshop, pp. 38–44 (2010)
Grewal, M., Weill, L., Andrews, A.: Global Positioning Systems, Inertial Navigation, and Integration. Wiley, New York (2001)
Bancroft, S.: An algebraic solution of the GPS equations. IEEE Trans. Aerosp. Electron. Syst. 21(7), 56–59 (1986)
Sirola, N.: A versatile algorithm for local positioning in closed form. In: Proceedings of the 8th European Navigation Conference GNSS, 16–19 May, Rotterdam (2004)
Cheung, K., So, H., Chan, Y.: A constrained least squares approach to mobile positioning: algorithms and optimality. EURASIP J. Appl. Signal Process. 2006, 1–23 (2006)
Ballet, R., Santos, D. A., and Zoran, S.: Position, velocity and heading estimation for unmanned aerial vehicles using camera and inertial sensors. In: Congresso Brasileiro de Engenharia Meĉanica (CONEM) (2016)
Acknowledgments
Authors are highly grateful to Mr. Tapan Misra, Director, Space Applications Centre, Ahmedabad for his support and guidance. Authors express their sincere gratitude to Associate Director Shri D K Das and support of Group Director SNGG, Shri S N Satasia and Division Head, SNTD, Ms Saumi De and HOD of CE Department of CSPIT (Changa), Dr. Amit Ganatra.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Shukla, A.K., Bansal, K.G., Bhalla, S. (2018). Extended Kalman Filter Based User Position Algorithm for Terrestrial Navigation System. In: Singh, M., Gupta, P., Tyagi, V., Flusser, J., Ören, T. (eds) Advances in Computing and Data Sciences. ICACDS 2018. Communications in Computer and Information Science, vol 906. Springer, Singapore. https://doi.org/10.1007/978-981-13-1813-9_42
Download citation
DOI: https://doi.org/10.1007/978-981-13-1813-9_42
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-13-1812-2
Online ISBN: 978-981-13-1813-9
eBook Packages: Computer ScienceComputer Science (R0)