成功大學博碩士論文系統

簡易檢索 / 詳目顯示

回結果列表

研究生：	黃冠穎 Huang, Kuan-Ying
論文名稱：	強健的耦合多頻導航衛星FPGA接收機之設計及應用 Design and Application of a Robust Coupling Multi-band GNSS FPGA Receiver
指導教授：	莊智清 Juang, Jyh-Ching
學位類別：	博士 Doctor
系所名稱：	電機資訊學院 - 電機工程學系 Department of Electrical Engineering
論文出版年：	2022
畢業學年度：	110
語文別：	英文
論文頁數：	105
中文關鍵詞：	全球衛星導航訊號接收機、多頻衛星導航訊號之耦合處理、強健之多頻衛星導航訊號偵測、定位訊號品質監控、強健的地面定位導航系統
外文關鍵詞：	GNSS signal receiver, coupling processing of multi-band GNSS signals, robust multi-band GNSS signal detection, quality monitoring of positioning, robust ground-based positioning system
相關次數：	點閱：123 下載：29
分享至:	分享至facebook 分享至twitter

查詢本校圖書館目錄查詢臺灣博碩士論文知識加值系統勘誤回報

本論文完整分析、設計了可快速穩定地偵測與同步多頻全球衛星定位導航訊號之接收晶片架構。定位導航訊號接收機透過訊號擷取與追蹤來同步接收機產生之本地端複製訊號與即時接收到之訊號，藉此導航訊息與測距量測量得以被還原並解出，接著完成定位。在這基礎上，具有多通道之多頻衛星導航接收機的運作，可不經由多組獨立導航訊號擷取與追蹤器來達成，由於其採用耦合處理架構，此模式藉由第一個獲得的通道資訊快速地給予第二或第三頻段之同步輔助參數，不僅縮短了第二頻段之導航訊號抓取時間，也大幅減低了硬體複雜度。本研究期間妥善考察現今透過此類輔助擷取技術來達到多頻同步之架構，發現其典型方法存在關鍵性能限制，由於實際接收訊號上，每個頻道間受到一定不同程度之環境干擾，如: 接收載波雜訊、熱與載波抖動，使得傳統輔助抓取訊號之同步方法受到性能下降，受干擾下第二頻段抓取時間將會發散。對此干擾，量化性能衰減分析，如:適應性、抓取速度、同步速度被仔細評估與分析。為了克服此限制，本論文針對不同情境，提出決定性耦合、混合之同步架構，快速、直接與穩定地偵測與同步多頻訊號，用於手持式定位裝置。此耦合同步架構，重構了輔助架構之框架，包含: 輔助架構調整、適應性估測方法導入、模型不確定建立，最終可高速鏈結多頻、多通道參數，並最小化硬體資源，實質達到快速與強健地多頻導航訊號偵測與同步，並且執行驗證實驗。此外，基於地面通訊系統之機會定位訊號之混合被設計來大幅提升定位品質，包含:訊號品質監控、地面訊號混和定位、誤差地面定位訊號排除。

This dissertation provides complete analysis and implementation of a multi-band Global Navigation Satellite System (GNSS) chip equipped with a new multi-band channel combination scheme. The proposed receiver can fast and stably detect and synchronize multi-band GNSS signals. In all GNSS receivers, a two-stage signal acquisition and tracking are commonly used to synchronize the received and local generated reference signal, which can wipe off the carrier and spreading code, recovering the navigation bits. Therefore, the positioning can be performed. In the multi-band receiving situation, the mentioned synchronization can be achieved by using the coupling processing instead of using several independent channels processing. Typically, the acquired channel parameters at the first band are used to assist the acquisition synchronization of the second band to reduce the hypothesis numbers of the search plane. In fact, the reduction ability is affected by increased uncertainty. For example, the received carrier noise, potential jamming, thermal and jitter alter the carrier frequency relationship between each band. To account for this situation, the new multi-band coupling architecture is designed to overcome the affect of the increased uncertainty between each channel parameter. An efficient coupling scheme is proposed, where a new direct and robust assist-to-tracking strategy is designed. This scheme is firstly to be considered and has the breakthrough on the multi-band GNSS synchronization in term of the speed, timing, and adaptability, used in the navigation devices. On the other hand, the extended applications of the ground-based navigation are designed, which contains receiver autonomous signal quality monitoring, fusion of the ground-based navigation signals, and error positioning signal removal.

Abstract	         	II
Acknowledgements	III
Table of Contents	IV
List of Figures	        VII
List of Tables	        IX
List of Appendices	X
List of Abbreviations	XI
Chapter 1 Introduction	1
1 Background	        1
2 Motivations	        3
3 Objectives and proposed strategies	4
4 Contribution	7
5 Dissertation organization	8
Chapter 2 Foundation of Multi-Band GNSS Signal	9
1 Multi-constellation and multi-band GNSS signals	9
2 GNSS signal components	11
2.1 GNSS signal models	12
2.2 GNSS signal acquisition	12
2.3 GNSS signal tracking	14
Chapter 3 Proposed Robust Assisted Multi-Band GNSS Signal Detection	17
1 Receiving strategies for the dual-frequency signals	17
2 Conventional aided GNSS acquisition schemes	19
3 Limitation of robustness caused by the hardware uncertainty	20
4 Proposed adaptive aided acquisition scheme	23
4.1 Estimating the channel variation for acquisition in the second band	25
4.2 Adaptive detection	27
5 Performance analysis	28
5.1	Analysis of the upper-bound of search region of the aided acquisition	29
5.2	Analysis of the lower bound of probability for the proposed assisted detection	31
5.3 Analysis results, timing performance, and computational load	32
5.4 Analysis of detection probability	33
6 Implementation of the proposed modified assisted acquisition	35
6.1 Analysis of the experimental detection probability on FPGAs	35
7 Chapter summary	36
Chapter 4 A New Assist-To-Track Multi-Band GNSS Signal Synchronization	37
1 Proposed direct-assist-to-tracking using advanced inner aiding scheme	38
1.1 Critical limitation of the direct-assist-to tracking strategy for synchronizing the 
                 second channel	39
1.2 Analysis of parameter alignment issue in channel assist synchronization	39
1.3 Bit boundary alignment scheme for achieving the direct channel parameter 
                assignment	42
2 Adaptive link between aid and assisted GNSS channels	43
2.1 The extended model with structural uncertainty	43
2.2 Robust estimation using upper error bound of the measurement from pilot channel 45
2.3 Solving the linker using the obtained error boundary	45
2.4 Proposed bias term calibration	47
2.5 Scintillation variation monitoring using two tracked code phase delay	48
3 Criterion for confirming success or failure of the direct aid tracking scheme by the 
          boundary analysis	49
4 The timing for beginning the inner-frequency aiding	50
5 Computational load analysis on the FPGA receiver	51
6 Chapter summary	52
Chapter 5 Verification of Proposed Schemes on FPGA	53
1 Basic FPGA architecture and on-chip hardware units	54
1.1 Proposed  multi-band GNSS channel assistance scheme	56
1.2 Improved resource usage of the proposed FPGA implementation	58
2 Trade-off strategy of speed, power, and resources	58
2.1 Division of software CPU and hardware FPGA	58
2.2 Efficient tasks partitioning scheme for the heterogeneous core of the GNSS FPGA 59
3 Setup for experiments and performance evaluation	60
4 Setup for experiments and interference evaluation	63
5 Implementation results	67
Chapter 6 Experimental Results and Analysis	70
1 Evaluate the time spent on synchronization by the FPGA	70
2 Running time evaluation	72
3 Post-processing analysis of the bit-boundary alignment strategy	72
4 Performance analysis of the proposed channel linking architecture	73
5 Chapter summary	75
Chapter 7 Extended Applications of the Proposed Receiver for Tough Receiving Cases	76
1 Extended applications of proposed scheme for the weak receiving situation	76
1.1 Improve the detection probability of weak signal acquisition using the proposed 
                scheme	76
1.2 Open-loop tracking strategy	78
2.3 Loop smoother	79
2 Signal quality monitoring and the robust fused positioning systems	81
2.1 Proposed signal quality monitoring for the fused positioning systems	84
2.2 Mathematical model of the monitoring	86
2.3 Experiments, analysis, and results	86
3 Chapter summary	88
Chapter 8 Conclusion	90
References            	92
Appendix		100
                                    

[1] J. C. Juang, “Electronic navigation,” Chun - hwa science & technology co., 2003.
[2] C. Hegarty and E. Kaplan, “Understanding GPS: Principles and applications,” Artech, 2005.
[3] P. Bolla and K. Borre, “Performance analysis of dual-frequency receiver using combinations of GPS l1, l5, and l2 civil signals,” Journal of Geodesy, vol. 93, no. 3, pp. 437-447, 2019/03/01 2019.
[4] B. Padma and B. Kai, “Performance analysis of dual-frequency receiver using combinations of GPS l1, l5, and l2 civil signals,” Journal of Geodesy, vol. 93, no. 3, pp. 437-447, 2019.
[5] Z. Nie, F. Liu, and Y. Gao, “Real-time precise point positioning with a low-cost dual-frequency gnss device,” GPS Solutions, vol. 24, no. 1, pp. 9-15.
[6] A. Elmezayen and A. El-Rabbany, “Precise point positioning using world’s first dual-frequency GPS/Galileo smartphone,” Sensors, 2019
[7] R. Yang, D. Xu, and Y. Morton, “Generalized multifrequency GPS carrier tracking architecture: Design and performance analysis,” IEEE Transactions on Aerospace and Electronic Systems, vol. 56, pp. 2548-2563, 2020.
[8] M. Foucras et al., “Study on the cross-correlation of gnss signals and typical approximations,” GPS Solutions, vol. 21, pp. 293-306, 2017.
[9] S. Qaisar and A. Dempster, “Cross-correlation performance assessment of global positioning system (GPS) l1 and l2 civil codes for signal acquisition,” IET Radar, Sonar & Navigation, pp. 195 - 203, 2011.
[10] R. Yang, D. Xu, and Y. T. Morton, “Generalized multifrequency GPS carrier tracking architecture: Design and performance analysis,” IEEE Transactions on Aerospace and Electronic Systems, vol. 56, pp. 2548-2563, 2020.
[11] Y. L. Tsai, C. C. Huang, C. T. Lin, and M. Y. Hsieh, “A dual-band dual-polarization stacked antenna array for GPS application,” in Progress of Electromagnetics Research Symposium, 2018.
[12] S. Raghunath and D. V. Ratnam, “Ionospheric spatial gradient detector based on glrt using gnss observations,” IEEE Geoscience and Remote Sensing Letters, pp. 875-879, 2016.
[13] Y. Tian, L. Sui, G. Xiao, and D. Zhao, “Analysis of galileo/bds/GPS signals and rtk performance,” GPS Solutions, vol. 23, pp. 37-46, 2019.
[14] B. C. Vani, B. Forte, and J. F. G. Monico, “A novel approach to improve gnss precise point positioning during strong ionospheric scintillation: Theory and demonstration,” IEEE Transactions on Vehicular Technology, vol. 68, pp. 4391-4403, 2019.
[15] S. Raghunath and D. V. Ratnam, “Ionospheric spatial gradient detector based on glrt using gnss observations,” IEEE Geoscience and Remote Sensing Letters, vol. 13, pp. 875-879, 2016.
[16] D. Wang and K. O'Keefe, “Benefit of partial l2c availability to estimate ionospheric delay for dual-frequency GPS ambiguity resolution, ” in Proceedings of IEEE/ION PLANS, pp. 44-52, 2010.
[17] G. M. Fu, M. Khider, and F. van Diggelen, “Android raw gnss measurement datasets for precise positioning,” in Proceedings of the 33rd International Technical Meeting of the Satellite Division of The Institute of Navigation, pp. 1925-1937, 2020.
[18] GPS modernization. (accessed https://www.GPS.gov/systems/GPS/modernization/).
[19] K. Y. Huang, J. C. Juang, M. Tsai, Y. F. Tsai, and C. T. Lin, “Implementation of a space-borne dual-frequency GPS ro fpga receiver with high-dynamic bit assist acquisition,” Journal of Aeronautics, Astronautics and Aviation, vol. 53, no. 3, pp. 429-439, 2021.
[20] S. Sokolovskiy et al., “Use of the l2c signal for inversions of GPS radio occultation data in the neutral atmosphere,” GPS Solutions, vol. 18, no. 3, pp. 405-416, 2014.
[21] V. C. Pham and J.C. Juang, “Ionosphere probing with simultaneous gnss radio occultations,” GPS Solutions, vol. 21, pp. 101-109, 2017.
[22] N. Guo, Y. Kou, Y. Zhao, Z. Yu, and Y. Chen, “An all-pass filter for compensation of ionospheric dispersion effects on wideband gnss signals,” GPS Solutions, vol. 18, pp. 625-637, 2014.
[23] J. C. Juang, Y. F. Tsai, and C. T. Lin, "Formosat-7r mission for gnss reflectometry," in Proceedings of IGARSS 2019 IEEE International Geoscience and Remote Sensing Symposium, pp. 5177-5180, 2019.
[24] J. Liu, S. P. Chen, W. Yeh, H. Tsai, and P. Rajesh, “Worst-case GPS scintillations on the ground estimated from radio occultation observations of formosat-3/cosmic during 2007–2014,” Surveys in Geophysics, pp. 791-809, 2016.
[25] S. Yan, “An efficient acquisition strategy for commercial beidou-3 dual-frequency receivers, ” in Proceedings of IEEE International Conference on Signal and Image Processing, pp. 833-837, 2020.
[26] T. H. Ta, M. Pini, and L. L. Presti, “Combined GPS l1c/a and l2c signal acquisition architectures leveraging differential combination,” IEEE Transactions on Aerospace and Electronic Systems, vol. 50, pp. 3212-3229, 2014.
[27] B. J. Southwell, J. W. Cheong, and A. G. Dempster, “A matched filter for spaceborne gnss-r based sea-target detection,” IEEE Transactions on Geoscience and Remote Sensing, vol. 58, pp. 5922-5931, 2020.
[28] T. H. Ta, S. U. Qaisar, A. G. Dempster, and F. Dovis, “Partial differential postcorrelation processing for GPS l2c signal acquisition,” IEEE Transactions on Aerospace and Electronic Systems, vol. 48, pp. 1287-1305, 2012.
[29] D. Lim, S. Moon, C. Park, and S. Lee, "L1/L2cs GPS receiver implementation with fast acquisition scheme," in Proceedings of IEEE/ION PLANS, 2006, pp. 840-844.
[30] K. Y. Huang, J. C. Juang, Y. F. Tsai, and C. T. Lin, “Efficient fpga implementation of a dual-frequency gnss receiver with robust inter-frequency aiding,” Sensors, vol. 21, no. 14, pp. 4634-4650, 2021.
[31] Klobuchar, “Ionospheric time-delay algorithm for single-frequency GPS users,” IEEE Transactions on Aerospace and Electronic Systems, no. 3, pp. 325-331, 1987.
[32] I. L. Mallika, D. V. Ratnam, S. Raman, and G. Sivavaraprasad, “A new ionospheric model for single frequency gnss user applications using klobuchar model driven by auto regressive moving average (sakarma) method over indian region,” IEEE Access, vol. 8, pp. 54535-54553, 2020.
[33] T. H. Ta, S. U. Qaisar, A. G. Dempster, and F. Dovis, “Partial differential postcorrelation processing for GPS l2c signal acquisition,” IEEE Transactions on Aerospace and Electronic Systems, vol. 48, pp. 1287-1305, 2012.
[34] X. Wang, X. Ji, S. Feng, and V. Calmettes, “A high-sensitivity GPS receiver carrier-tracking loop design for high-dynamic applications,” GPS Solutions, pp. 225-236, 2015.
[35] Z. Sun, X. Wang, S. Feng, H. Che, and J. Zhang, “Design of an adaptive GPS vector tracking loop with the detection and isolation of contaminated channels,” GPS solutions, vol. 21, no. 2, pp. 701-713, 2017.
[36] F. T. Smith, “Mathematics applied to engineering, modelling, and social issues secure communication systems based on the synchronization of chaotic systems, ” Springer, 2019.
[37] D. P. O'Leary, “Near-optimal parameters for tikhonov and other regularization methods,” SIAM J. Sci. Comput., vol. 23, no. 4, pp. 1161-1171, 2001.
[38] G. H. Golub, P. C. Hansen, and D. P. O'Leary, “Tikhonov regularization and total least squares,” SIAM J Matrix Anal Appl, vol. 21, pp.185-194, 1999.
[39] C. T. Wu,“Research on real-time signal processing architecture of multi-frequency and multi-constellation gnss receiver with hardware and software integration,”Thesis of department of electrical engineering, National Cheng Kung University, 2018.
[40] K. Y. Huang,“Implementation of gnss l1/l2 psoc based baseband signal processor with rapid acquisition function,”Thesis of department of electrical engineering, National Cheng Kung University, 2017.
[41] C. Gernot, K. O'Keefe, and G. Lachapelle, “Assessing three new GPS combined l1/l2c acquisition methods,” IEEE Transactions on Aerospace and Electronic Systems, vol. 47, no. 3, pp. 2239-2247, 2011.
[42] L. H. Crockett, R. Elliot, M. Enderwitz, and R. Stewart, “The zynq book: Embedded processing with the arm cortex-a9 on the xilinx zynq-7000 all programmable soc,” Strathclyde Academic Media, 2014.
[43] Z. Tang, “The zynq-7000 soc on ultrascale architecture,” in Proceedings of International Conference on Application of Intelligent Systems in Multi-modal Information Analytics, 2020: Springer, pp. 231-236.
[44] K. Y. Huang, J. C. Juang, C. T. Lin, Y. F. Tsai, and D. S. Yang, “Designing a dual-frequency GPS fpga altimeter with optimized open-loop tracking and cross-path calibration,” Journal of Aeronautics, Astronautics and Aviation, vol. 53, pp. 535-546, 2021.
[45] A. B. Chen,“Design and Verification of Algorithms on Acquisition of Weak GPS Signals,”Thesis of department of electrical engineering, National Taiwan University, 2005.
[46] C. W. Chen,“Positioning Algorithm for Insufficient GPS Satellites,”Thesis of department of electrical engineering, National Taiwan University, 2005.
[47] C. Yang, A. Soloviev, and J. C. Ha, “Combining and integration schemes for acquisition of weak gnss split-spectrum signals,” in Proceedings of International Technical Meeting of the Institute of Navigation, pp. 713-725, 2020.
[48] K. Zhang, C. Shen, Q. Zhou, H. Wang, Q. Gao, and Y. Chen, “A combined GPS uwb and marg locationing algorithm for indoor and outdoor mixed scenario,” Cluster Computing, vol. 22, no. 3, pp. 5965-5974, 2019.
[49] J.C. Juang, Y.F. Tsai, and C.T. Lin, “Preliminary design of gnss-ro receivers,” in Proceedings of Astronautical Exploration Technology Workshop, 2018.
[50] V. Vlagkoulis et al., “Single event effects characterization of the programmable logic of Xilinx zynq-7000 fpga using very/ultra high-energy heavy ions,” IEEE Transactions on Nuclear Science, vol. 68, no. 1, pp. 36-45, 2020.
[51] X. Wang, X. Ji, S. Feng, and V. Calmettes, “A high-sensitivity GPS receiver carrier-tracking loop design for high-dynamic applications,” GPS Solutions, pp. 225-236, 2015.
[52] W. L. Mao, H. W. Tsao, and F. R. Chang, “Intelligent GPS receiver for robust carrier phase tracking in kinematic environments,” IET Radar, Sonar & Navigation, vol. 151, pp 171-180, 2004.
[53] P. W. Ward and T. D. Fuchser, “Stability criteria for gnss receiver tracking loops,” Navigation: Journal of The Institute of Navigation, vol. 61, no. 4, pp. 293-309, 2014.
[54] T. Ren, M. Petovello, and C. Basnayake, “Requirements analysis for bit synchronization and decoding in a standalone high-sensitivity gnss receiver,” in Proceedings of 2012 Ubiquitous Positioning, Indoor Navigation, and Location Based Service, 2012, pp. 1-9.
[55] S. Stevanovic and B. Pervan, “A GPS phase-locked loop performance metric based on the phase discriminator output,” Sensors, vol. 18, no. 1, pp. 296-305, 2018.
[56] F. Benvenuto and B. Jin, “A parameter choice rule for tikhonov regularization based on predictive risk,” Inverse Problems, vol. 36, no. 6, pp. 65004-65012, 2020.
[57] H. Boche, R. F. Schaefer, and H. V. Poor, “Robust transmission over channels with channel uncertainty: An algorithmic perspective,” in Proceedings of International Conference on Acoustics, Speech and Signal Processing, 2020
[58] F. Guo, H. Kodamana, Y. Zhao, B. Huang, and Y. Ding,“Robust identification of nonlinear errors-in-variables systems with parameter uncertainties using variational bayesian approach,” IEEE Trans Ind Informat, vol. 13 no. 6, pp. 3047-3057, 2017.
[59] C. Yang et al., “Assessment and comparison of broadcast ionospheric models: Ntcm-bc, bdgim, and klobuchar,” Remote Sensing, vol. 12, no. 7, pp. 1215-1222, 2020.
[60] S. Gao, L. Zhao, and L. Guo, “Design and fast verification of rf front-end based on max2769,” Advances in electronic engineering, communication and management, pp. 147-152, 2012.
[61] M. Integrated, “Max 2769 universal GPS receiver,” San Jose, United States of America, MAXIM, 2010.
[62] Y. Eldar, A. Ben-Tal, and A. Nemirovski, “Robust mean-squared error estimation in the presence of model uncertainties,” IEEE Transactions on Signal Processing, vol. 53, no. 1, pp. 168-181, 2005.
[63] F. Benvenuto and B. Jin, “A parameter choice rule for tikhonov regularization based on predictive risk,” Inverse Problems, vol. 36, no. 6, pp. 65004-65012, 2020.
[64] C. Fenu, L. Reichel, G. Rodriguez, and H. Sadok, “Gcv for tikhonov regularization by partial svd,” BIT Numerical Mathematics, vol. 57, no. 4, pp. 1019-1039, 2017.
[65] A. Qian and Y. Li, “Optimal error bound and generalized tikhonov regularization for identifying an unknown source in the heat equation,” Journal of Mathematical Chemistry, vol. 49, no. 3, pp. 765-775, 2011.
[66] J. Proakis and M. Salehi, “Digital communications, ” McGraw-Hill, 2001.
[67] C. O'Driscoll, “Performance analysis of the parallel acquisition of weak GPS signals,” Dissertation of university college cork, pp. 97-105, 2007.
[68] T. Ren and M. Petovello, “Collective bit synchronization for weak gnss signals using multiple satellites,” in Proceedings of IEEE/ION, pp. 547-555, 2014.
[69] Z. Mei, Z. Chenghui, Z. Huanshui, C. Peng, and D. Yanchun, “Robust least square method and its application to parameter estimation,” in Proceedings of IEEE International Conference on Automation and Logistics, pp. 1483-1486, 2007.
[70] Y. C. Eldar, A. Ben-Tal, and A. Nemirovski, “Linear minimax regret estimation of deterministic parameters with bounded data uncertainties,” IEEE Transactions on Signal Processing, vol. 52, no. 8, pp. 2177-2188, 2004.
[71] I. F. Gorodnitsky and B. D. Rao, “Analysis of error produced by truncated svd and tikhonov regularization methods, ” in Proceedings of Asilomar Conference on Signals, Systems and Computers, pp. 25-29, 1994.
[72] R. Christensen, Plane answers to complex questions - general gauss–markov models. Springer, 2020.
[73] S. Jin et al., “Long-term variations of plasmaspheric total electron content from topside GPS observations on leo satellites,” Remote Sensing, vol. 13, no. 4, pp. 545-552, 2021.
[74] T. P. Jayawardena, G. Buesnel, C. N. Mitchell, R. Boyles, B. Forte, and R. J. Watson, “Towards re-creating real-world ionospheric scintillation events in a spirent simulator-based robust pnt test framework, ” in Proceedings of the International Technical Meeting of The Institute of Navigation, pp. 1024-1032, 2017.
[75] L. Chang-Moon, P. Kwan-Dong, H. J. Hyun, and L. S. Uk, “Generation of klobuchar coefficients for ionospheric error simulation,” Journal of Astronomy and Space Sciences, vol. 27, no. 2, pp. 117-122, 2010.
[76] N. H. Nguyen, S. A. Khan, C.H. Kim, and J.M. Kim, “A high-performance, resource-efficient, reconfigurable parallel-pipelined fft processor for fpga platforms,” Microprocess Microsystems, vol. 60, pp. 96-106, 2018.
[77] Z. A. Halim, B. S. Babu, and M. Mustaffa, “Hardware software partitioning using four levels hybrid algorithm technique, ” in Proceedings of IEEE Symposium on Computer Applications & Industrial Electronics, pp. 42-47, 2020.
[78] Y. Xia, L. Wang, and M. Yang, “A fast algorithm for globally solving tikhonov regularized total least squares problem,” Journal of Global Optimization, vol. 73, no. 2, pp. 311-330, 2019.
[79] “Global timer of cortex-a9 mpcore, ” https://developer.arm.com/documentation/ddi0407/g/Global-timer--private-timers--and-watchdog-registers/About-the-Global-Timer (accessed on 2021,11).
[80] E. M. Shaheen, “Mathematical analysis for the GPS carrier tracking loop phase jitter in presence of different types of interference signals,” Gyroscopy and Navigation, vol. 9, no. 4, pp. 267-276, 2018.
[81] Y. Wang and X. Li, “Graph-optimization-based zupt/uwb fusion algorithm,” International Journal of Geo-Information, vol. 7, no. 1, pp. 18-25, 2018.
[82] M. Dehghani, Z. Montazeri, A. Dehghani, And O. P. Malik, “Go: Group optimization,” Gazi University Journal of Science, vol. 33, no. 2, pp. 381-392, 2020.
[83] Y. Yang and J. Xu, “Gnss receiver autonomous integrity monitoring algorithm based on robust estimation,” Geodesy and Geodynamics, vol. 7, no. 2, pp. 117-123, 2016.f
[84] E. Wang, D. Yang, C. Wang, Y. Huang, P. Qu, and T. Pang, “Optimized fault detection algorithm aided by bds baseband signal for train positioning,” Chinese Journal of Electronics, vol. 29, no. 1, pp. 34-40, 2020.
[85] E. Wang, C. Jia, G. Tong, P. Qu, X. Lan, and T. Pang, “Fault detection and isolation in GPS receiver autonomous integrity monitoring based on chaos particle swarm optimization-particle filter algorithm,” Advances in Space Research, vol. 61, no. 5, pp. 1260-1272, 2018.
[86] M. Fuhry and L. Reichel, “A new tikhonov regularization method,” Numerical Algorithms, vol. 59, no. 3, pp. 433-445, 2012.
[87] A. Abbasi and H. Liu, “Novel cnn and hybrid cnn-lstm algorithms for uwb snr estimation, ” in Proceedings of IEEE 11th Annual Computing and Communication Workshop and Conference (CCWC), pp. 637-641, 2021.
[88] N. L. Knight, J. Wang, and X. Lu, “A new minimal detectable bias in fault detection for positioning,” Journal of Global Positioning Systems, vol. 10, no. 1, pp. 89-99, 2011.
[89] P. Teunissen, “Minimal detectable biases of GPS data,” Journal of Geodesy, vol. 72, no. 4, pp. 236-244, 1998.
[90] B. Li, L. Zhang, and S. Verhagen, “Impacts of beidou stochastic model on reliability: Overall test, w-test and minimal detectable bias,” GPS Solutions, vol. 21, no. 3, pp. 1095-1112, 2017.

校內：立即公開
校外：立即公開

簡易檢索 / 詳目顯示

相關論文