Professional Documents
Culture Documents
Nadezda Sokolova Börje Forssell: Nadia - Sokolova@iet - Ntnu.no Forssell@iet - Ntnu.no
Nadezda Sokolova Börje Forssell: Nadia - Sokolova@iet - Ntnu.no Forssell@iet - Ntnu.no
Nadezda Sokolova Börje Forssell: Nadia - Sokolova@iet - Ntnu.no Forssell@iet - Ntnu.no
High Sensitivity GPS Tracking Performance in Indoor Environment with Moderate Pedestrian Traffic Conditions
Nadezda Sokolova Brje Forssell
nadia.sokolova@iet.ntnu.no forssell@iet.ntnu.no
Test A
-Same test equipment setup. -Same satellite geometry (tests performed in 23 hours 56 minutes period). -Same test path. -Warm start outside the building.
Performed during a week day, people present in the building and along the test path.
Test B
Performed during a week end, no people present along the test path.
Electro block views from the outside, passage inside the building, entrance.
Field test setup. Parameter Tracking Channels Protocol Tracking Sensitivity Hot Start Sensitivity Cold Start Sensitivity Value L1, C/A code 16 UBX binary, NMEA -158 dBm -148 dBm -142 dBm
SVs C/No levels outside, at the entrance to the Electro block, test A, people present.
SVs C/No levels outside, at the entrance to the Electro block, test B, no people present.
C/No diagrams for each SV available under the tests inside the building.
Test A- navigation solutions put the receiver all the time at and around the entrance where the test was initialised. Test B- the receiver was able to produce navigation solutions which were spread along the test path.
10
11
Conclusions
A person blocking the satellite signal path or just passing by in close distance to the receive antenna can cause loss of signal and degraded accuracy in indoor and other degraded signal environments.
Standing and moving people are additional and very unpredictable obstructions and sources of multipath that should be considered in combination with other effects degrading the GPS performance in pedestrian traffic environments.
A user of a handheld GPS device should be aware of such limitations in order to use his device in the best way to get satisfactory results.
12
References
[1] R.M.Allnutt, A.Dissanayake, K.T.Lin, C.Zaks, Propagation considerations on L-band handheld communication service offerings via satellite, IEEE Trans. on Antenna and Propagation, Vol.2, 1993, pp.800-803.
13
Integrated Low-Cost MEMS INS+HSGPS Performance for Pedestrian Navigation in a Signal Degraded Environment
Nadezda Sokolova Brje Forssell
nadia.sokolova@iet.ntnu.no forssell@iet.ntnu.no
14
Price to pay...
Reduced positioning accuracy due to weak signals and interference. Increased acquisition times. Limited dynamic responsiveness.
15
HSGPS solutions indoors, Electro block, sept.07.
16
Loosely coupled integration algorithm. 2 decentralized Kalman filters. At least four GPS satellites recquired to provide GPS updates for INS corrections.
17
Operating scenario for all performed tests: walking mode. Inertial sensor placement: in the users hand, kept close to the body.
18
0.02 m/s
0.5 mGauss
Hz
Main operating parameters of u-blox SuperSense HSGPS receiver and Xsens Mtx IMU.
19
It is inefficient to use heading information derived from magnetometer measurements in indoor environments. Magnetic field inside a building is strongly disturbed by building structure, electrical equipment, mobile phones, computers.... etc
20
Measurement path, semi-urban area, Trondheim. Measurement path, semi-urban area test, Trondheim.
21
Rapid error accumulation by INS during absence of GPS navigation solutions, about 150m horisontal error.
Integrated HSGPS/MEMS INS navigation solution with simulated 30 seconds of GPS outage
22
Electro block views from the outside, passage inside the building, entrance.
23
HSGPS-only: Results
To illustrate the integrated system performance, two tests were chosen:
Test 1 good HSGPS results, GPS available for 95 seconds out of 121. Test 2 poor HSGPS results, GPS available only for a few short periods, for 43 seconds out of 125 in total.
HSGPS-only results, Test 1 and Test 2.
24
Integrated system accuracy is dependant on accuracy of HSGPS navigation solutions. Integrated system rapidly accumulates errors in absence of GPS updates. Integrated system availability is better, but errors in navigation solution are very large.
25