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. 2020 May 11;20(9):2732.
doi: 10.3390/s20092732.

Examination of Multi-Receiver GPS/EGNOS Positioning with Kalman Filtering and Validation Based on CORS Stations

Adam Ciećko  1 , Mieczysław Bakuła  1   2 , Grzegorz Grunwald  1 , Janusz Ćwiklak  2
Affiliations

Examination of Multi-Receiver GPS/EGNOS Positioning with Kalman Filtering and Validation Based on CORS Stations

Adam Ciećko et al. Sensors (Basel). .

Abstract

This paper presents the concept of precise navigation based on SBAS technology and CORS stations. In a kinematic test, three rover Global Positioning System (GPS) receivers, properly spaced relatively to each other, were used in order to estimate reliable and redundant GPS/EGNOS positions. Next, the Kalman filter was employed to give the final solution. It was proven that EGNOS positioning allows to obtain an accuracy in the range of about 0.5-1.5 m. The proposed solution involving the use of three mobile receivers and Kalman filtering allowed to reduce the 3D error to a level below 0.3 m. Such an accuracy was achieved using only GPS L1 code observations and EGNOS corrections. Additionally, a reliable monitoring of quality of GPS/EGNOS positioning in the test area based on CORS stations was presented.

Keywords: EGNOS; GPS; Kalman filter; multi-receiver.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Figure 1
Figure 1
Flow chart of EGNOS positioning by means of three GPS/EGNOS receivers.
Figure 2
Figure 2
Test area: (a) airfield runway with a mobile GNSS unit; (b) satellite configuration during the experiment.
Figure 3
Figure 3
Accuracies in GPS kinematic positioning of individual receivers, by means of EGNOS correction.
Figure 4
Figure 4
Accuracies of GPS kinematic positioning of individual receivers, by means of EGNOS correction and Kalman filtering.
Figure 4
Figure 4
Accuracies of GPS kinematic positioning of individual receivers, by means of EGNOS correction and Kalman filtering.
Figure 5
Figure 5
Accuracy of the vertical coordinate of EGNOS positioning for three mobile receivers in initial measurement time span together with Kalman filtering.
Figure 6
Figure 6
Estimated EGNOS positioning errors determined through internal validation of kinematic positioning, for horizontal coordinates (Δn,Δe) and the vertical coordinate (Δh).
Figure 7
Figure 7
True errors of final GPS-EGNOS positioning by means of three GPS receivers and Kalman filter.
Figure 8
Figure 8
Location of the test area and CORS stations around the test area.
Figure 9
Figure 9
The GPS-EGNOS positioning accuracy at 4 permanent ASG-EUPOS stations, located around the airfield, based on GPS L1, EGNOS and Kalman filtering.
Figure 10
Figure 10
The median Me(t) values and the ΔMe−X(t) values based on observations at the stations: REF1, REF2, REF3 and REF4 calculated with the use of the Kalman filter.
See this image and copyright information in PMC

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