China Satellite Navigation Conference (CSNC 2024) Proceedings

Name: China Satellite Navigation Conference (CSNC 2024) Proceedings | Volume III
Brand: Springer
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Volume III

Changfeng Yang Jun Xie(Editor)

Springer (Publisher)

1st Edition

Published on 1. November 2023

XX, 635 pages

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978-981-99-6944-9 (ISBN)

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Content

Intro
Editorial Board
Preface
Contents
Satellite Orbit Determination and Precise Positioning
Performance Analysis of BDS-3 Klobuchar Model
1 Introduction
2 Klobuchar model
3 Comparison on model algorithm
3.1 Main function
3.2 Mapping function
3.3 Other Formulas
4 Results and analysis
4.1 Average correction accuracy
4.2 Correction accuracy for different latitudes
4.3 Interchangeability of BDSKlob and GPSKlob models
5 Conclusions
References
Analysis of the Impact of Tonga Volcano Eruption on Satellite Navigation Services
1 Introduction
2 Analysis of the Tonga volcano eruption on satellite signal propagation
2.1 The Analysis of Troposphere Delay
2.2 The Analysis of Ionosphere Delay
3 Impact of Tonga Volcanic Explosion on Satellite Navigation Service and Monitoring
3.1 Impact on User Navigation and Positioning Services
3.2 Monitoring of Ionospheric Impacts
4 Conclusion
References
Prediction of Satellite Solar Radiation Pressure Parameters Based on Recurrent Neural Network
1 Introduction
2 Research Review
3 Recurrent Neural Network Model
4 Prediction Method of Satellite Solar Radiation Pressure Parameters Based on Recurrent Neural Network
5 Test Results and Analysis
6 Conclusions
References
Real-Time Kinematic Orbit Determination of GEO Satellite with the Onboard GNSS Receiver
1 Introduction
2 TTS-2
2.1 Onboard GPS Data
2.2 Post-Process OD Results
3 Test Strategy
3.1 Data Preprocessing
3.2 OD Strategy
3.3 Test Design
4 Analysis and Results
4.1 Scenario 1
4.2 Scenario 2
5 Summarize
References
Analysis of the Contributions of ISL to the Precise Orbit Determination of BDS-3 Satellites
1 Introduction
2 Inter-Satellite Links
2.1 Observation Model
2.2 Data Processing
3 Results and Analysis
3.1 Incorporate Only ISL Range Observations
3.2 Incorporate Only ISL Clock Observations
3.3 Incorporate Both ISL Range and Clock Observations
4 Conclusion
References
BDS-3/GNSS Multi-frequency PPP Rapid Ambiguity Resolution
1 Introduction
2 Multi-frequency and Multi-system PPP-AR Principle
2.1 Multi-frequency Undifferenced and Uncombined PPP Observation Equations
2.2 Multi-frequency PPP-AR Based on BIAS Products
2.3 Rapid Ambiguity Resolution Strategy
3 Experiment Results
3.1 CNES BIAS Product Performance
3.2 BDS-3 Multi-frequency PPP-AR
3.3 GNSS Multi-frequency PPP-AR
3.4 Single-Epoch PPP-WAR
4 Conclusion
References
Effect of Troposphere Parameter Estimation on BDS PPP
1 Introduction
2 Mathematical Models and Methods
2.1 Precision Point Positioning Model
2.2 Tropospheric Delay Estimation Methods
3 Data Sources and Experimental Protocols
3.1 Data Sources
3.2 Experimental Protocols
4 Analysis of Experimental Results
4.1 ZTD Analysis
4.2 Analysis Based on PPP and ZTD Accuracy
5 Conclusion
References
Comprehensive Analysis of the Cycle Slip Detection Threshold in Kinematic PPP During Geomagnetic Storms
1 Introduction
2 Theory and Methods
2.1 TurboEdit Cycle Slip Detection Method
2.2 Adaptive GF Threshold Model
3 Space Weather Indices Variations
4 Experimental Analysis
4.1 Data Processing Strategies
4.2 Analysis of the Experiment Results
5 Conclusion
References
Analysis of Rapid Re-initialization Performance of Precise Point Positioning for Low-Cost Receiver
1 Introduction
2 Mathematical Model
2.1 Undifferenced and Uncombined Model
2.2 Time-Differenced Model
3 Partial Cycle Slip Fixing
3.1 Partial Cycle Slip Subset Filtering
3.2 Cycle Slip Estimate and Testing
4 Experimental Results and Analysis
4.1 Processing Strategy
4.2 Experimental Analysis
5 Conclusions
References
Prototype of Real-Time Orbit Service for LEO Navigation Satellite System
1 Introduction
2 Real-Time LEO POD System
2.1 System Composition
2.2 System Working Principle
3 Data Set and Processing Strategies
3.1 Data Set
3.2 Processing Strategies of LEO POD
3.3 Processing Strategies of Dynamic Orbit Prediction
3.4 Processing Strategies of Broadcast Ephemeris Fitting
4 Results and Analysis
4.1 Analysis of Near-Real-Time Kinematic Orbit Accuracy
4.2 Analysis of Dynamic Prediction Orbit Accuracy
4.3 Analysis of LEO Broadcast Ephemeris Accuracy
5 Conclusion
References
BDS3-Based Precise Orbit Determination for LEO Satellites with Single-Receiver Ambiguity Fixing
1 Introduction
2 Single-Receiver Ambiguity Fixing
3 Orbit Determination Strategy
4 Result Evaluation
4.1 Ambiguity Fixing Performance
4.2 Orbit Evaluation
4.3 Baseline Evaluation
5 Conclusion
References
Assessment About Parameters Selection Strategy of ECOMC Solar Radiation Pressure Model for BDS-3 Satellites During the Earth Eclipsing Period
1 Introduction
2 Applicability Analysis of Solar Radiation Pressure Model
2.1 ECOM/ECOMC Solar Radiation Pressure Model
2.2 Strategy of Precision Orbit Determination
2.3 Analysis of Variation Law of Solar Radiation Pressure Parameters
3 ECOMC Model Improvement Method
3.1 Correlation Analysis of Solar Radiation Pressure Parameters of ECOMC Model during the Earth Eclipsing Period
3.2 Result Analysis
4 Conclusions
References
Assessment of Solar Radiation Pressure Models for BDS-3 MEO Navigation Satellites
1 Introduction
2 Methodology of SRP Models
2.1 ECOM Series SRP Models
2.2 Prior SRP Models
3 Metadata and Yaw Mode of BDS-3 MEO Satellites
3.1 Metadata of BDS-3 MEO Satellites
3.2 Yaw Mode of BDS-3 MEO Satellites
4 Experiments and Analysis
4.1 Orbit Determination Strategy
4.2 SLR
4.3 Orbit Boundary Discontinuities
4.4 Analysis for Precise Orbit Products of IGS ACs
5 Summary and Conclusions
References
Combined Processing of Outlier and Multipath in GNSS Precise Point Positioning
1 Introduction
2 Combined Processing of Outlier and Multipath
3 Experiment Results and Analysis
4 Conclusion
References
Polar Motion Prediction Based on the Combination of Weighted Least Squares and Vector Autoregressive Models
1 Introduction
2 Prediction Methodology
2.1 Weighted Least Squares Extrapolation
2.2 Choice of Weighting Function
2.3 Vector Autoregressive Modelling
3 Result Analysis
3.1 Data Source
3.2 Correlation Between the Pole Coordinates
3.3 Comparison with the LS+AR
3.4 Comparison with the IERS Bulletin A
4 Conclusion
References
Precise Orbit and Clock Offset Determination of LEO Navigation Satellites Based on Multi-constellation and Multi-frequency Spaceborne GNSS Data
1 Introduction
2 Data Source and Calculation Principle
3 Precision Orbit Determination Analysis
3.1 PCO Estimation
3.2 DCB Correction
3.3 Orbit Accuracy
4 Precision Clock Determination Analysis
5 Conclusion
References
GNSS Carrier Phase Heading Determination with a Single Array Antenna
1 Introduction
2 Model of Carrier Phase Heading Determination With an Array Antenna
3 Iteration-Based Heading Determination Method
4 Baseline Constrained AR Method
5 Simulation Validation and Analysis
5.1 Simulation Setup
5.2 Heading Solution Analysis
5.3 Impact of the Number of Iterations on Heading Solutions
5.4 Impact of C-LAMBDA on Heading Solutions
6 Conclusions
References
Performance Evaluation of BDS-3 Satellite Clocks Based on Inter-Satellite Link and Satellite-Ground Observations
1 Introduction
2 Method of Satellite Clock Performance Evaluation
2.1 Data Preprocessing
2.2 Frequency Accuracy
2.3 Frequency Drift Rate
2.4 Frequency Stability
3 Results of Satellite Clock Performance Evaluation
3.1 Frequency Accuracy
3.2 Frequency Drift Rate
3.3 Frequency Stability
4 Conclusions
References
Global Mapping of Ionospheric ROTI Index and Its Preliminary Application in Analysis of Precise Positioning Degradation
1 Introduction
2 Data and Methodology
2.1 Data
2.2 ROTI Index
2.3 Mapping Methodology for ROTI Index
2.4 Processing Strategy for Precise Point Positioning
3 Results and Discussions
3.1 Comparisons of Semi-Variogram Models for ROTI Mapping
3.2 Global ROTI Mapping for 2017 September 7-8 Storm
3.3 Kinematic PPP Degradation During the 2017 September Storm
4 Conclusions and Future Work
References
Precise Point Positioning Ambiguity Resolution with Multi-frequency Ionosphere-Reduced Combination
1 Introduction
2 Conventional IFPPP Ambiguity Resolution
3 Multi-frequency IRPPP Ambiguity Resolution
3.1 Multi-frequency IR Combination Selection
3.2 Multi-frequency IRPPP Observation Model
4 Experiment Analysis
4.1 Result Analysis of FCB
4.2 Performance Comparison of IRPPP and IFPPP
5 Conclusion
References
Simulation Study on Real-Time Orbit Determination Based on GNSS for LEO Satellite Considering the Effect of Electric Propulsion
1 Introduction
2 RTOD Algorithm
2.1 GNSS Measurements
2.2 Dynamical Model of LEO
2.3 Extended Kalman Filter Model
3 Simulation Scenarios and RTOD Strategy
3.1 Simulation Scenarios
3.2 RTOD Strategy
4 Results and Analysis
4.1 Tracking Performance
4.2 Acceleration Error
4.3 RTOD Results
5 Conclusions
References
Analysis of the Performance of Broadcast Ionospheric Model for Anti-disturbance Capability
1 Introduction
2 Event Selection and Data Processing Methods
2.1 Experimental Event Selection
2.2 Assessment Benchmark Selection
2.3 Data Processing Methods
3 Analysis of Magnetic Storms and Solar Flare Ionospheric Disturbances
4 Analysis of Broadcast Ionospheric Model Perturbations During Magnetic Storms
4.1 Analysis of Broadcast Ionospheric Model Performance During the Magnetic Storms from September 23 to September 30, 2020
4.2 Analysis of the Performance of Four Broadcast Ionospheric Models During the May 12, 2021 Magnetic Storm
4.3 Performance Analysis of Four Broadcast Ionospheric Models During the Nov. 4, 2021 Magnetic Storm
5 Analysis of Broadcast Ionospheric Performance During Solar Flares
5.1 Performance Analysis of the X1.3 Level Flare Broadcast Ionosphere Model for March 31, 2022
5.2 Analysis of the Broadcast Ionospheric Model Performance of the X1.1 and X2.2 Level Flares on April 17 and 22, 2022
6 Comparison of the Effects of Geomagnetic Storms and Flares on the Performance of Broadcast Ionospheric Models
7 Conclusion
References
Global Instantaneous Centimeter-Level Multi-constellation and Multi-frequency Precise Point Positioning with Cascading Ambiguity Resolution
1 Introduction
2 Methodology
2.1 Observation Equations
2.2 PPP Ambiguity Resolution
3 Data Collection and Processing Strategy
4 Results and Analysis
5 Conclusion
References
Time Frequencies and Precision Timing
High-Performance Microwave Frequency Standard Systems Based on the Ground-State Hyperfine Splitting of 171Yb+ and 113Cd+ Ions
1 Introduction
2 Experiment System
2.1 Experimental Result
2.2 Analysis
3 Future Work
4 Conclusion
References
Precision Analysis of Clock Products Data from iGMAS Analysis Centers
1 Introduction
2 Clock Bias Data Processing and Precision Analysis Strategy
3 Test and Analysis
3.1 Precision Analysis of GPS Satellite Clock Bias
3.2 Precision Analysis of Galileo/BDS Satellite Clock Bias
3.3 Precision Analysis of Rapid and Ultra-Rapi D Clock Bias Products from the iGMAS
3.4 Data Validity Analysis of iGMAS Clock Bias Products
4 Conclusion
References
The Research on BeiDou Time Transfer via Precise Point Positioning based on Raw Observations
1 Introduction
2 Method
2.1 PPP Based on BeiDou Raw Observations
2.2 Time Transfer Based on BeiDou PPP Network Solution
3 Time Transfer Experiment
3.1 Experimental Stations and Data
3.2 Data Processing
3.3 Experimental Results
4 Discussion
4.1 Influence of Different Estimation Strategies
4.2 Influence of Data of Different Bands
5 Summary
References
An Engineered High Performance Optically Pumped Compact Cesium Atomic Clock
1 Introduction
2 Improvement of the Stability of Compact Cesium Atomic Clock in Optically-Pumped and Optical Detection
2.1 Laser Linewidth
2.2 Laser Power
2.3 C field
3 The Frequency Stability of the Compact Clock
References
Ultra-thin Rubidium Atomic Clock
1 Introduction
2 Ultra-thin Rubidium Atomic Clock Design
2.1 Introduction To The Working Principle
2.2 Rubidium Spectral Lamp Assembly
2.3 Rubidium Absorption Bulb Assembly
2.4 Frequency Synthesizer
2.5 Complete Device Design
3 Performance Testing And Analysis
3.1 Frequency Stability
3.2 Frequency Aging Rate
3.3 Punctuality Accuracy
3.4 Frequency-temperature Characteristics
3.5 Phase Noise
4 Conclusion
References
A Method for Establishing Elastic Time-Frequency Reference for Navigation Constellation
1 Introduction
2 Elastic Time-Frequency Reference Frame
3 Spaceborne Atomic Clock Time Frequency Processing Technology
3.1 Integrating Sphere Cold Atomic Clock Technology
3.2 Mercury Ion Microwave Clock Technology
3.3 Space Borne Time-Frequency Processing Technology
4 Time Frequency Measurement and Measurement and Transmission Noise Analysis
4.1 Analysis of White Phase Noise Requirement in Time-Frequency Transmission Link
4.2 Analysis of Colored Phase Noise Requirement in Time-Frequency Transmission Link
5 Simulation of Atomic Time Algorithm for Constellation Synthesis
6 Conclusion
References
Research on Time Transfer Method Based on Un-Differenced Combination Model Between Stations
1 Introduction
2 Functional Model
2.1 Traditional PPP Model
2.2 Un-Differenced Combination Model Between Stations
3 Static Time Transfer Experiment
3.1 Data Preparation
3.2 Processing Strategy
3.3 Experiment Analysis
4 Conclusion
References
An Improved Method for PPP Time Transfer with Forecast Clock Model and Performance Evaluation
1 Introduction
2 Methodology
2.1 PPP Time Transfer
2.2 FC Model
2.3 Experimental Data Processing Strategy
3 Determination of Sliding Window Size of the FC Model
3.1 Data Selection
3.2 Analysis of Experimental Results
4 Time Transfer Experiment
4.1 Data Selection
4.2 Analysis of Experimental Results
5 Conclusion
References
Research on PPP Time Transfer Method Based on Observable-Specific Signal Bias
1 Introduction
2 Time Transfer Model for Bias Correction of Observations
2.1 Correction Term of Original Observation Deviation
2.2 Based on Bias Correction of Observations
3 Time Transfer Performance Analysis Considering OSB
3.1 Experimental Data and Strategy
3.2 Product Quality Analysis of Deviations from Observation Data
3.3 Based on Bias Correction of Observations
3.4 Analysis of Static Mode Time Transfer Results
3.5 Analysis of Time Transfer Results in Dynamic Mode
3.6 Analysis of Time Transfer Results in Multi-System Mode
4 Conclusion
References
Application of Improved GPS Satellite Clock Error Prediction Model in Real-Time Precise Point Positioning
1 Introduction
2 Methodology
3 Result and Analysis
3.1 Data
3.2 Modeling Performance
4 Conclusion
References
Research on Phase/Frequency Consistent Adjusting Method for Main/Backup Signals
1 Introduction
2 System Structure
3 Key Technologies
3.1 Frequency Adjusting
3.2 Time Synchronization
4 Experimental Results
4.1 Main Signal Results
4.2 Time Synchronization Results
4.3 Main-Backup Switching Results
5 Conclusion
References
Frequency Performance Evaluation of BeiDou-3 Satellite Clocks
1 Introduction
2 Method of Clock Bias Determination
2.1 MPOD Clock Bias
2.2 TWSTFT Clock Bias
3 Evaluation Index
3.1 Frequency Accuracy
3.2 Frequency Stability
4 Performance Evaluation of the BeiDou-3 Satellite Clocks
4.1 Precision of Clock Bias
4.2 Frequency Accuracy
4.3 Frequency Stability
5 Conclusion
References
Engineering Optical Clocks for GNSS Timing Reference Applications
1 Introduction
2 Engineering Basis for Optical Clocks
2.1 Options for Engineering Optical Clocks
2.2 Implementation and Test Evaluation of Transportable Optical Clocks
3 Engineered Optical Clock Design
3.1 Miniaturized Ion Trap and Vacuum Module
3.2 Laser Module
3.3 Automatic Control
4 Conclusion
References
A Small High-Temperature Rubidium Frequency Standard
1 Introduction
2 Design Scheme
2.1 Physical Design
2.2 Circuit Scheme
2.3 External Interface
3 Test Results
4 Conclusion
References
Accuracy Analysis of BeiDou-3/GPS Real-Time Precise Common View Time Transfer Based on Carrier-Phase
1 Introduction
2 Carrier-Phase PCV Time Transfer Principle and Mathematical Model
3 Experimental Data and Strategies
3.1 Experimental Data
3.2 Experiment Strategies
4 Results and Analysis
4.1 Time Transfer Accuracy Analysis
4.2 Analysis of Frequency Stability
4.3 Effect of DCB on PCV Time Transfer
5 Conclusion
References
System Intelligent Operation and Autonomous Navigation
3D Small Object Detection from Cameras and Point Clouds Using Five-Head Attention in a Fusion Method
1 Introduction
2 Related Work
2.1 3D Detection Using 2D Images
2.2 3D Inspection Using Point Clouds
2.3 Multimodal Fusion Methods
2.4 Attention Mechanisms
3 CPFNet: Five-Head Attention and Fusion Method
3.1 Backbone Network
3.2 Five-Head Attention Module
3.3 Multimodal Fusion
3.4 Network Architecture
3.5 Loss
4 Experiments
4.1 Dataset Settings
4.2 Assessment of Results
4.3 Ablation Experiment
5 Conclusion
References
Research on Autonomous Orbit Determination Based on BeiDou Navigation Satellite System Inter-Satellite Link
1 Introduction
1.1 Background
1.2 Work in This Paper
1.3 Dynamic Model for BDS Satellites
2 ISL Data Preprocessing
3 Result of the POD
3.1 Positional Precision, Residuals and User Ranging Error (URE)
3.2 The POD Results with Different Reference Satellites and Different Initial Errors
3.3 The POD Result When the EOP Coefficients Are Zeros
4 Conclusion
References
Robust Alignment Base on IKF for SINS/DVL Integrated Navigation System
1 Introduction
2 Initial Alignment Model
2.1 Initial Alignment Equation of State
2.2 Initial Alignment Measurement Equation
3 RIKF Algorithm
4 Experimental Verification
4.1 Data Sources
4.2 Experimental Verification and Analysis with Outliers Pollution
5 Conclusion
References
Multi-UUVs Cooperative Localization in Asymmetric Large Configuration
1 Introduction
2 Method
2.1 Principle of UUVs Cooperative Localization
2.2 Observability Analysis Based on Nonlinear Lie Derivative
2.3 Configuration Design of UUVs in Asymmetric Large Formation
3 Summary
References
Research on Autonomous Detection and Recovery Technology of Satellite Clock Anomaly During the Autonomous Navigation of BDS-3 Constellation
1 Introduction
2 Introduction to The Autonomous Time Synchronization Algorithm of BDS-3 Constellation
3 Constellation Clock Anomaly Detection and Recovery
3.1 Constellation Clock Anomaly Detection Algorithm
3.2 Constellation Clock Anomaly Recovery Algorithm
3.3 Recovery of Abnormal Clock
4 Simulation Analysis Based on On-Orbit Data
5 Conclusion
References
Research on Life Prediction of Navigation Satellite Based on Bayesian Network
1 Introduction
2 Introduction to Bayesian Network
3 The Basic Model Based on Bayesian Network
3.1 Consider a Bayesian Network with Redundant Backup Product
3.2 Consider a Bayesian Network with Common-Cause Failure Product
3.3 Consider a Bayesian Network with Functional Backups
4 Navigation Satellite Life Prediction Model Based on Bayesian Network
4.1 Model Content
4.2 Build the Model
5 Application Study of Navigation Satellite Life Prediction
5.1 Simulation Process
5.2 Apply the Study
6 Conclusion
References
Research on the Constellation Rotation Mechanism and Suppression Method of Distributed Autonomous Orbit Determination
1 Introduction
2 Research Situation and Difference Analysis of Rotation Correction Methods for Autonomous Navigation Constellation
3 Analysis of Long-Term Error Characteristics of Prediction Ephemeris on the Ground
4 Analysis of the Rotating Dynamics Mechanism of Distributed Autonomous Orbit Determination
5 Method and Verification of Constellation Rotation Error Suppression for Autonomous Orbit Determination
5.1 Calculating the Rotation Angle of the Space Coordinate of a Single Satellite
6 Calculate the Rotation Angle of the Overall Space Coordinate of the Constellation
7 Eliminate the Rotation Angle of the Overall Space Coordinate of the Constellation
8 Conclusion and Prospect
References
Integrity Monitoring for GNSS/INS Integrated Navigation Based on Improved AIME
1 Introduction
2 Loosely Coupled GNSS/INS Model
3 Autonomous Integrity Monitoring
3.1 Classic AIME
3.2 Analysis of Classical AIME
3.3 Improved AIME
4 Simulation and Analysis
4.1 Detection Performance
4.2 Protection Level
5 Conclusion
References
Research on Visual Inertia SLAM Technology with Additional Point and Line Features
1 Introduction
2 Visual Inertial Odometer with Additional Point and line Features
2.1 Visual Front-End Based on Point and Line Features
2.2 IMU Pre Integration
3 Visual Inertia SLAM Fusion Algorithm with Additional Line Features
3.1 Visual Inertia Joint Initialization
3.2 Nonlinear Optimization Backend Based on Sliding Window
4 Simulation and Experiment
4.1 EuRoCMAV Dataset
4.2 Analysis of Simulation Results
5 Conclusion
References
An Adaptive and Robust Strategy for GPS/IMU/VO Integrated Navigation
1 Introduction
2 Algorithm Design
2.1 Algorithm Framework
2.2 A Dual GPS Quality Check Method Based on GDOP and Chi-Square Test
2.3 Robust Factor Weight Matrix
2.4 NHC
3 Field Test
4 Conclusion
References
RGB-D SLAM Algorithm Based on Clustering and Geometric Residuals in Dynamic Environment
1 Introduction
2 System Framework
2.1 Image Scene Segmentation Based on Clustering Algorithm
2.2 Dynamic Feature Point Detection Method Based on Geometric Residuals
3 Experiment and Analysis
3.1 Parameter Setting
3.2 Pose Estimation Experiment
4 Conclusion
References
Research on an Artificial Intelligence Based Diagnosis Algorithm of BDS Telemetry Anomaly
1 Introduction
2 Design of BDS Telemetry Anomaly Diagnosis System
2.1 General System Design
2.2 AE and Prophet Algorithm Implementation Principle
2.3 Detection Evaluation Algorithms
3 Design of Telemetry Data Processing Module
3.1 Design Scheme
3.2 Satellite Telemetry Data Set Management Module
3.3 Satellite Telemetry Dataset Processing Module
4 Telemetry Data Anomaly Detection Module
4.1 Design Scheme
4.2 Analysis of Telemetry Data Anomaly Detection Data
5 Abnormal Data Prediction Module
5.1 Design Scheme
5.2 Anomaly Analysis of Predictive Telemetry Data
6 Conclusions
References
Evaluation of Satellite Acceleration Determination Methods in GNSS/INS Deep Integration
1 Introduction
2 Satellite Acceleration Determination Method
2.1 Derivative Method
2.2 Kinematic Method
2.3 Difference Method
3 Simulation Experiment
4 Evaluation of Acceleration Determination Methods
4.1 Evaluation of Calculation Load
4.2 Evaluation of Calculation Accuracy
4.3 Evaluation of Application Range
5 Conclusion
References
Spatiotemporal Alignment and Measurement Accuracy Evaluation of New Point Cloud Devices in Autonomous Driving
1 Introduction
2 Accuracy Evaluation Method
2.1 Spatiotemporal Alignment
2.2 Measurements Evaluation
3 Experimental Verification
3.1 Hardware Setup
3.2 Result Analysis
4 Conclusion
References
Calibration Method for LiDAR Cameras in Natural Dynamic Environments
1 Introduction
2 Method
2.1 Sensor Model
2.2 Dynamic Point Cloud Removal Method Based on Point Cloud Projection
2.3 Extrinsic Calibration Method Based on BA Optimization
3 Experiments and Results
3.1 Static Environment Experiment
3.2 Dynamic Environment Experiment
4 Conclusion
References
Pedestrian Navigation Algorithm Based on EKF Combined with ZUPT + ZARU + Attitude Self-observation
1 Introduction
2 Gait Description and Zero-Speed Detection Algorithm
3 Attitude Self-observation
4 Pedestrian Inertial Navigation System
5 Experiment
6 Summary
References
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China Satellite Navigation Conference (CSNC 2024) Proceedings

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