A closed-loop EKF and multi-failure diagnosis approach for cooperative GNSS positioning

Current cooperative positioning with global navigation satellite system (GNSS) for connected vehicle application mainly uses pseudorange measurements. However, the positioning accuracy offered cannot meet the requirements for lane-level positioning, collision avoidance and future automatic driving, which needs real-time positioning accuracy of better than 0.5 m. Furthermore, there is an apparent lack of research into the integrity issue for these new applications under emerging driverless vehicle applications. In order to overcome those problems, a new extended Kalman filter (EKF) and a multi-failure diagnosis algorithm are developed to process both GNSS pseudorange and carrier phase measurements. We first introduce a new closed-loop EKF with partial ambiguity resolution as feedback to address the low accuracy issue. Then a multi-failure diagnosis algorithm is proposed to improve integrity and reliability. The core of this new algorithm includes using Carrier phase-based Receiver Autonomous Integrity Monitoring method for failure detection, and the double extended w test detectors to identify failure. A cooperative positioning experiment was carried out to validate the proposed method. The results show that the proposed closed-loop EKF can provide highly accurate positioning, and the multi-failure diagnosis method is effective in detecting and identifying failures for both code and carrier phase measurements.     

Recursive algorithm for fast GNSS orbit fitting

Gaussian elimination is an efficient and numerically stable algorithm for estimating parameters and their precision. However, before estimating the parameters, it is often prudent to perform statistical tests to achieve the best fitting model. We use Gaussian elimination to select the best fitting model among candidate models. A succinct relationship between the weighted sum of squared residuals and the previous one is revealed by a volume formula. For quick parameter estimation and determination of weighted sum of squared residuals, a recursive elimination algorithm is proposed in the context of Gaussian elimination. In order to improve the model selection efficiency, the parameter estimation and the determination of the weighted sum of squared residuals are carried out in parallel using the proposed recursive elimination algorithm in which the improvement at each recursive stage is judged by the Bayesian information criterion. Ultimately, the computational complexity and numerical stability of the recursive elimination proposed are briefly discussed, and a GNSS orbit interpolation example is used to verify the results. It shows that the proposed recursive elimination algorithm inherits the numerical stability of the Gaussian elimination, and this algorithm can be used to examine the gain from the newly introduced parameter, dynamically assess the fitting model, and fix the optimal model efficiently. The optimal fitting model with the lowest information is very close to the real situation verified by checkpoints.     

A new method for specular and diffuse pseudorange multipath error extraction using wavelet analysis

Multipath remains one of the major challenges in Global Navigation Satellite System (GNSS) positioning because it is considered the dominant source of ranging errors, which can be classified into specular and diffuse types. We present a new method using wavelets to extract the pseudorange multipath in the time domain and breaking it down into the two components. The main idea is an analysis-reconstruction approach based on application of both continuous wavelet transform (CWT) and discrete wavelet transform (DWT). The proposed procedure involves the use of L1 code-minus-carrier (CMC) observable where higher-frequency terms are isolated as residuals. CMC residuals are analyzed by applying the CWT, and we propose the scalogram as a technique for discerning time–frequency variations of the multipath signal. Unlike Fourier transform, the potential of the CWT scalogram for examining the non-stationary and multifrequency nature of the multipath is confirmed as it simultaneously allows fine detection and time localization of the most representative frequencies of the signal. This interpretation of the CWT scalogram is relevant when choosing the levels of reconstruction with DWT, allowing accurate time domain extraction of both the specular and diffuse multipath. The performance and robustness of the method and its boundary applicability are assessed. The experiment was carried out using a receiver of Campania GNSS Network. The results are given in which specular multipath error is achieved using DWT level 7 approximation component and diffuse multipath error is achieved using DWT level 6 denoised detail component.     

Optimization and Parametrical Investigation to Assess the Reconstitution of Different Types of Indian Sand Using Portable Travelling Pluviator

By using the air pluviation technique, it is aimed to achieve the desired relative density with uniform void ratio throughout the specimen in order to maintain the homogeneity and to avoid the spatial variability. Further, in order to achieve the maximum deposition intensity, a systematic optimization study has been carried out rigorously in a test tank to determine the diameter of the orifice to be employed for the sieve plates of different porosity and the number of sieve plates to be installed in the diffuser sieve sets. The study has been conducted with four different patterns of sieves with different porosity to achieve a wide range of relative densities for four different uniformly graded Indian sands. The dynamic penetrometer which is considered to be one of the cost effective instruments has been efficiently used to determine the soil resistance at various locations of the test tank for every given height of fall in order to check the uniformity of placement density throughout the sand bed. The study reveals that the sand beds of different relative densities could be achieved using different patterns of diffuser sieves at optimum sand flow rate without compromising the uniformity. The effect of height of fall as well as porosity of diffuser sieves on the relative density of different sands has been studied in detail. The deposition intensity and the relative density obtained from the present study are compared with the values available in the literature.     

Assessment and Prediction of Liquefaction Potential Using Different Artificial Neural Network Models: A Case Study

Soil liquefaction as a transformation of granular material from solid to liquid state is a type of ground failure commonly associated with moderate to large earthquakes and refers to the loss of strength in saturated, cohesionless soils due to the build-up of pore water pressures and reduction of the effective stress during dynamic loading. In this paper, assessment and prediction of liquefaction potential of soils subjected to earthquake using two different artificial neural network models based on mechanical and geotechnical related parameters (model A) and earthquake related parameters (model B) have been proposed. In model A the depth, unit weight, SPT-N value, shear wave velocity, soil type and fine contents and in model B the depth, stress reduction factor, cyclic stress ratio, cyclic resistance ratio, pore pressure, total and effective vertical stress were considered as network inputs. Among the numerous tested models, the 6-4-4-2-1 structure correspond to model A and 7-5-4-6-1 for model B due to minimum network root mean square errors were selected as optimized network architecture models in this study. The performance of the network models were controlled approved and evaluated using several statistical criteria, regression analysis as well as detailed comparison with known accepted procedures. The results represented that the model A satisfied almost all the employed criteria and showed better performance than model B. The sensitivity analysis in this study showed that depth, shear wave velocity and SPT-N value for model A and cyclic resistance ratio, cyclic stress ratio and effective vertical stress for model B are the three most effective parameters on liquefaction potential analysis. Moreover, the calculated absolute error for model A represented better performance than model B. The reasonable agreement of network output in comparison with the results from previously accepted methods indicate satisfactory network performance for prediction of liquefaction potential analysis.