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Precise positioning for virtually synchronized pseudolite system

: Puengnim, Anchalee; Patino-Studencka, Lucila; Thielecke, Jörn; Rohmer, Günter


Canalda, P. ; Institute of Electrical and Electronics Engineers -IEEE-:
IPIN 2013, 4th International Conference on Indoor Positioning and Indoor Navigation : Montbeliard, France, 28 - 31 October 2013
Piscataway, NJ: IEEE, 2013
ISBN: 978-1-4799-4043-1 (online)
ISBN: 978-1-4799-4042-4 (print)
International Conference on Indoor Positioning and Indoor Navigation (IPIN) <4, 2013, Montbéliard>
Fraunhofer IIS ()

An inexpensive, flexible and precise pseudolite positioning system, developed at Fraunhofer IIS is presented. For this pseudolite system a real-time kinematic (RTK) method similar to the one employed in GNSS is applied. Because of the use of free-running clocks in the pseudolites and the characteristics of the signal, the application of RTK to the proprietary pseudolite system is challenging. A description of these challenges e.g., synchronization of transmitters and receivers, and methods to overcome them are addressed in this paper. The application of RTK allows accurate localization of a rover. The rover position is estimated through an extended Kalman filter (EKF) and the carrier phase integer ambiguity is resolved through Least-squares AMBiguity Decorrelation Adjustment (LAMBDA) method.