Tom 57 (2022): Zeszyt 3 (September 2022)

The demand for smartphone positioning has grown rapidly due to increased positioning accuracy applications, such as land vehicle navigation systems used for vehicle tracking, emergency assistance, and intelligent transportation systems. The integration between navigation systems is necessary to maintain a reliable solution. High-end inertial sensors are not preferred due to their high cost. Smartphone microelectromechanical systems (MEMS) are attractive due to their small size and low cost; however, they suffer from long-term drift, which highlights the need for additional aiding solutions using road network that can perform efficiently for longer periods. In this research, the performance of the Xiaomi MI 8 smartphone’s single-frequency precise point positioning was tested in kinematic mode using the between-satellite single-difference (BSSD) technique. A Kalman filter algorithm was used to integrate BSSD and inertial navigation system (INS)-based smartphone MEMS. Map matching technique was proposed to assist navigation systems in global navigation satellite system (GNSS)-denied environments, based on the integration of BSSD–INS and road network models applying hidden Marcov model and Viterbi algorithm. The results showed that BSSD–INS–map performed consistently better than BSSD solution and BSSD–INS integration, irrespective of whether simulated outages were added or not. The root mean square error (RMSE) values for 2D horizontal position accuracy when applying BSSD–INS–map integration improved by 29% and 22%, compared to BSSD and BSSD–INS navigation solutions, respectively, with no simulated outages added. The overall average improvement of proposed BSSD–INS–map integration was 91%, 96%, and 98% in 2D horizontal positioning accuracy, compared to BSSD–INS algorithm for six GNSS simulated signal outages with duration of 10, 20, and 30 s, respectively.

The effect of the geodetic rotation (which includes two relativistic effects: geodetic precession and geodetic nutation) is the most significant relativistic effect in the rotation of the celestial bodies. For the first time in this research, this relativistic effect is determined in the rotation of dwarf planets (Ceres, Pluto, and Charon) and asteroids (Pallas, Vesta, Lutetia, Europa, Ida, Eros, Davida, Gaspra, Steins, and Itokawa) in the Solar System with known values of their rotation parameters. Calculations of the values of their geodetic rotation are made by a method for studying any bodies in the Solar System with a long-term ephemeris. Values of geodetic precession and geodetic nutation for all these celestial bodies were calculated in ecliptic Euler angles relative to their proper coordinate systems and in their rotational elements relative to the fixed equator of the Earth and the vernal equinox (at the epoch J2000.0). The obtained analytical values of the geodetic rotation for the celestial bodies can be used to numerically investigate their rotation in the relativistic approximation, and also used to estimate the influence of relativistic effects on the orbital–rotational dynamics for the bodies of exoplanetary systems.

The dilution of precision (DOP) in satellite navigation system provides a simple characterization of the user–satellite geometry and a quantitative assessment of the positioning constellation configuration. The essential idea of physical augmentation factor of precision (PAFP) proposed in this work, is that navigation signals are transmitted at multiple frequencies from each visible satellite in the positioning constellation, while users measure the corresponding multiple pseudoranges of satellites to achieve high precision code positioning. As the multiple pseudoranges of one satellite are measured independently by the corresponding navigation signals at different frequencies, it is reasonable to treat the measurement errors due to the satellite clock and ephemeris, the atmospheric propagation as uncorrelated, random, and identically distributed. The multipath effects and receiver noise are also processed with some empirical models. By measuring user–satellite code pseudoranges at different frequencies, the PAFP offers a scheme that produces the same effect as that of the redundant-overlapping constellation, thus equivalently improving the geometric DOP. It can effectively improve code positioning precision of satellite navigation system.