An adaptive fusion algorithm for coastal sea altimetry based on dual-frequency Beidou-R carrier phase.

This article proposes an integer ambiguity determination method based on Beidou system-reflectometry (Beidou-R) observations of the carrier phase at the B1I and B3I frequencies. To enhance the accuracy of sea surface height (SSH) estimation, this study introduces a parallel filtering algorithm and an adaptive iterative fusion algorithm, enabling data fusion based on the variance at B1I and B3I frequencies. To validate and evaluate the proposed method, a coastal experiment was conducted at the Shenxian River. In this experiment, reflected signals from GEO and IGSO satellites were collected. Data analysis reveals that the method is effective, demonstrating that the root mean square error (RMSE) of SSH achieves 2.85 cm and 2.89 cm for PRN 04 and PRN 33, respectively. Furthermore, the impact of the elevation angle on measurement accuracy is analyzed. This study aims to propose a method to enhance coastal sea surface height estimation, offering potential advancements in sea surface altimetry.

Multilayer Model in Soil Moisture Content Retrieval Using GNSS Interferometric Reflectometry.

The global navigation satellite system-interferometric reflectometry (GNSS-IR) was developed more than a decade ago to monitor soil moisture content (SMC); a system that is essentially finished has emerged. The standard GNSS-IR model typically considers soil to be a single layer of medium and measures the average SMC between 1 and 10 cm below the soil surface. The majority of the SMC is not distributed uniformly along the longitudinal axis. This study is based on a simulation platform and suggests a SMC-stratified measurement model that can be used to recover the SMC at different depths in the sink and reverse osmosis to address the issue that conventional techniques cannot accurately measure soil moisture at different depths. The soil moisture of each layer was assessed by utilizing the GNSS signals reflected by various soil layers, and this study employed total transmission when the vertical linearly polarized component of the electromagnetic wave was conveyed by the GNSS signal reflected by the soil. This work employed the Hilbert transform to obtain the interference signal envelope, which increases the visibility of the interference signal's "notch" and reduces the burr impact of the interference signal brought on by ambient noise. The accuracy of the SMC measurement at the bottom declines due to the soil's attenuation of the GNSS signal power, but the correlation between the predetermined value and SMC retrieved by the GNSS-IR multilayer SMC measurement model similarly approached 0.92.

A Real-Time GNSS-R System for Monitoring Sea Surface Wind Speed and Significant Wave Height.

This paper presents a monitoring system based on Global Navigation Satellite System (GNSS) reflected signals to provide real-time observations of sea conditions. Instead of a computer, the system uses a custom-built hardware platform that incorporates Radio Frequency (RF), Field Programmable Gate Array (FPGA), Digital Signal Processing (DSP), and Raspberry Pi for real-time signal processing. The suggested structure completes the navigation signal's positioning as well as the reflected signal's feature extraction. Field tests are conducted to confirm the effectiveness of the system and the retrieval algorithm described in this research. The entire system collects and analyzes signals at a coastal site in the field experiment, producing sea surface wind speed and significant wave height (SWH) that are compared to local weather station data, demonstrating the system's practicality. The system can allow the centralized monitoring of many sites, as well as field experiments and real-time early warning at sea.

Improved GNSS-Based Bistatic SAR Using Multi-Satellites Fusion: Analysis and Experimental Demonstration.

The Global Navigation Satellite System (GNSS)-based Bistatic Synthetic Aperture Radar (SAR) is getting more and more attention in remote sensing for its all-weather and real-time global observation capability. Its low range resolution results from the narrow signal bandwidth limits in its development. The configuration difference caused by the illumination angle and movement direction of the different satellites makes it possible to improve resolution by multi-satellite fusion. However, this also introduces new problems with the resolution-enhancing efficiency and increased computation brought about by the fusion. In this paper, we aim at effectively improving the resolution of the multi-satellite fusion system. To this purpose, firstly, the Point Spread Function (PSF) of the multi-satellite fusion system is analyzed, and focusing on the relationship between the fusion resolution and the geometric configuration and the number of satellites. Numerical simulation results show that, compared with multi-satellite fusion, dual-satellite fusion is a combination with higher resolution enhancement efficiency. Secondly, a method for dual-satellite fusion imaging based on optimized satellite selection is proposed. With the greedy algorithm, the selection is divided into two steps: in the first step, according to geometry configuration, the single-satellite with the optimal 2-D resolution is selected as the reference satellite; in the second step, the angles between the azimuthal vector of the reference satellite and the azimuthal vector of the other satellites were calculated by the traversal method, the satellite corresponding to the intersection angle which is closest to 90° is selected as the auxiliary satellite. The fused image was obtained by non-coherent addition of the images generated by the reference satellite and the auxiliary satellite, respectively. Finally, the GPS L1 real orbit multi-target simulation and experimental validation were conducted, respectively. The simulation results show that the 2-D resolution of the images produced by our proposed method is globally optimal 15 times and suboptimal 8 times out of 24 data sets. The experimental results show that the 2-D resolution of our proposed method is optimal in the scene, and the area of the resolution unit is reduced by 70.1% compared to the single-satellite's images. In the experiment, there are three navigation satellites for imaging, the time taken to the proposed method was 66.6% that of the traversal method. Simulations and experiments fully demonstrate the feasibility of the method.

A Cycle Slip Detection Framework for Reliable Single Frequency RTK Positioning.

Single frequency real-time kinematic (RTK) positioning is expected to be the leading implementation platform for a variety of emerging GNSS mass-market applications. During RTK positioning, the most common source of measurement errors is carrier-phase cycle slips (CS). The presence of CS in carrier-phase measurements is tested by a CS detection technique and correspondingly taken care of. While using CS prone measurement data, positioning reliability is an area of concern for RTK users. Reliability can be linked with the CS detection scheme through a least squares (LS) adjustment process. This paper proposes a CS detection framework for reliable RTK positioning using single-frequency GNSS receivers. The scheme uses double differenced measurements for CS detection via LS adjustment using a detection, identification, and adaptation approach. For reliable positioning, the procedure to link the detection and identification stages is described. Through tests conducted on kinematic data, internal and external reliability are theoretically determined by calculating minimal detectable bias (MDB) and marginally detectable errors, respectively. After introducing CS, the actual values of MDB are found to be four cycles, which are higher than the theoretically obtained values of one and two cycles. Although CS detection for reliable positioning is implemented for single-frequency RTK users, the proposed procedure is generic and can be used whenever CS are detected through statistical tests during LS adjustment.

Performance Analysis of Ground Target Detection Utilizing Beidou Satellite Reflected Signals.

This paper presents a method of ground target detection using reflected signals of BeiDou satellites. The phase difference information, which is the output of the phase-lock loop (PLL) in the tracking process, is an important observation in this technique. The geometric relationships between the specular point of different BeiDou satellites and the target are established. In addition, the detection and false alarm probability are also analyzed. In order to verify the reliability of the method, an experiment in the suburb area of Beijing was completed. The target was placed in the coverage area of the left-handed circular polarization (LHCP) antenna for two time periods (10-20 s and 40-55 s). By observing the phase difference in BeiDou reflected signals in the presence of a target, it was found that the changing trend was in good agreement with the target placement time periods. In the second experiment, the target moved east and west at a speed of 0.5 m/s, and the range of motion was 6 m. During the acquisition of the BeiDou reflection signal, the target passed through the antenna 14 times. The performance of target detection with different parameters was observed by extracting in-phase (I) branch component data, phase difference information, and the carrier-to-noise ratio (CNR) of five BeiDou reflected signals. The experimental results allowed three conclusions to be drawn as follows: (1) The target detection performance of the three parameters has a certain relationship with the altitude angle and the azimuth angle of the satellite; (2) target motion direction information can be reflected in the change of the satellite I branch component data; (3) The CNR information of different satellite reflected signals varies greatly when the target moves, which is quite different from that of the first experimental target when it is stationary. Thus, the feasibility of target detection using BeiDou reflection signal was demonstrated through these two experiments.

Intercomparison of Soil Moisture Retrieved from GNSS-R and from Passive L-Band Radiometry at the Valencia Anchor Station.

In this paper, the SOMOSTA (Soil Moisture Monitoring Station) experiment on the intercomparison of soil moisture monitoring from Global Navigation Satellite System Reflectometry (GNSS-R) signals and passive L-band microwave radiometer observations at the Valencia Anchor Station is introduced. The GNSS-R instrument has an up-looking antenna for receiving direct signals from satellites, and a dual-pol down-looking antenna for receiving LHCP (left-hand circular polarization) and RHCP (right-hand circular polarization) reflected signals from the soil surface. Data were collected from the three different antennas through the two channels of Oceanpal GNSS-R receiver and, in addition, calibration was performed to reduce the impact from the differing channels. Reflectivity was thus measured, and soil moisture could be retrieved. The ESA (European Space Agency)-funded ELBARA-II (ESA L Band Radiometer II) is an L-band radiometer with two channels with 11 MHz bandwidth and respective center frequencies of 1407.5 MHz and 1419.5 MHz. The ELBARAII antenna is a large dual-mode Picket horn that is 1.4 m wide, with a length of 2.7 m with -3 dB full beam width of 12° (±6° around the antenna main direction) and a gain of 23.5 dB. By comparing GNSS-R and ELBARA-II radiometer data, a high correlation was found between the LHCP reflectivity measured by GNSS-R and the horizontal/vertical reflectivity from the radiometer (with correlation coefficients ranging from 0.83 to 0.91). Neural net fitting was used for GNSS-R soil moisture inversion, and the RMSE (Root Mean Square Error) was 0.014 m3/m3. The determination coefficient between the retrieved soil moisture and in situ measurements was R2 = 0.90 for Oceanpal and R2 = 0.65 for Elbara II, and the ubRMSE (Unbiased RMSE) were 0.0128 and 0.0734 respectively. The soil moisture retrievals by both L-band remote sensing methods show good agreement with each other, and their mutual correspondence with in-situ measurements and with rainfall was also good.

Performance Enhancement of Pedestrian Navigation Systems Based on Low-Cost Foot-Mounted MEMS-IMU/Ultrasonic Sensor.

The pedestrian navigation system (PNS) based on inertial navigation system-extended Kalman filter-zero velocity update (INS-EKF-ZUPT or IEZ) is widely used in complex environments without external infrastructure owing to its characteristics of autonomy and continuity. IEZ, however, suffers from performance degradation caused by the dynamic change of process noise statistics and heading estimation errors. The main goal of this study is to effectively improve the accuracy and robustness of pedestrian localization based on the integration of the low-cost foot-mounted microelectromechanical system inertial measurement unit (MEMS-IMU) and ultrasonic sensor. The proposed solution has two main components: (1) the fuzzy inference system (FIS) is exploited to generate the adaptive factor for extended Kalman filter (EKF) after addressing the mismatch between statistical sample covariance of innovation and the theoretical one, and the fuzzy adaptive EKF (FAEKF) based on the MEMS-IMU/ultrasonic sensor for pedestrians was proposed. Accordingly, the adaptive factor is applied to correct process noise covariance that accurately reflects previous state estimations. (2) A straight motion heading update (SMHU) algorithm is developed to detect whether a straight walk happens and to revise errors in heading if the ultrasonic sensor detects the distance between the foot and reflection point of the wall. The experimental results show that horizontal positioning error is less than 2% of the total travelled distance (TTD) in different environments, which is the same order of positioning error compared with other works using high-end MEMS-IMU. It is concluded that the proposed approach can achieve high performance for PNS in terms of accuracy and robustness.

LSS-RM: Using Multi-Mounted Devices to Construct a Lightweight Site-Survey Radio Map for WiFi Positioning.

A WiFi-received signal strength index (RSSI) fingerprinting-based indoor positioning system (WiFi-RSSI IPS) is widely studied due to advantages of low cost and high accuracy, especially in a complex indoor environment where performance of the ranging method is limited. The key drawback that limits the large-scale deployment of WiFi-RSSI IPS is time-consuming offline site surveys. To solve this problem, we developed a method using multi-mounted devices to construct a lightweight site-survey radio map (LSS-RM) for WiFi positioning. A smartphone was mounted on the foot (Phone-F) and another on the waist (Phone-W) to scan WiFi-RSSI and simultaneously sample microelectromechanical system inertial measurement-unit (MEMS-IMU) readings, including triaxial accelerometer, gyroscope, and magnetometer measurements. The offline site-survey phase in LSS-RM is a client⁻server model of a data collection and preprocessing process, and a post calibration process. Reference-point (RP) coordinates were estimated using the pedestrian dead-reckoning algorithm. The heading was calculated with a corner detected by Phone-W and the preassigned site-survey trajectory. Step number and stride length were estimated using Phone-F based on the stance-phase detection algorithm. Finally, the WiFi-RSSI radio map was constructed with the RP coordinates and timestamps of each stance phase. Experimental results show that our LSS-RM method can reduce the time consumption of constructing a WiFi-RSSI radio map from 54 min to 7.6 min compared with the manual site-survey method. The average positioning error was below 2.5 m with three rounds along the preassigned site-survey trajectory. LSS-RM aims to reduce offline site-survey time consumption, which would cut down on manpower. It can be used in the large-scale implementation of WiFi-RSSI IPS, such as shopping malls, hospitals, and parking lots.

A Novel Wind Speed Estimation Based on the Integration of an Artificial Neural Network and a Particle Filter Using BeiDou GEO Reflectometry.

Oceanographic remote sensing, which is based on the sensitivity of reflected signals from the Global Navigation Satellite Systems (GNSS), so-called GNSS-Reflectometry (GNSS-R), is very useful for the observation of ocean wind speed. Wind speed estimation over the ocean is the core factor in maritime transportation management and the study of climate change. The main concept of the GNSS-R technique is using the different times between the reflected and the direct signals to measure the wind speed and wind direction. Accordingly, this research proposes a novel technique for wind speed estimation involving the integration of an artificial neural network and the particle filter based on a theoretical model. Moreover, particle swarm optimization was applied to find the optimal weight and bias of the artificial neural network, in order to improve the accuracy of the estimation result. The observation dataset of the reflected signal information from BeiDou Geostationary Earth Orbit (GEO) satellite number 4 was used as an input for the estimation model. The data consisted of two phases with I and Q components. Two periods of BeiDou data were selected, the first period was from 3 to 8 August 2013 and the second period was from 12 to 14 August 2013, which corresponded to events from the typhoon Utor. The in situ wind speed measurement collected from the buoy station was used to validate the results. A coastal experiment was conducted at the Yangjiang site located in the South China Sea. The results show the ability of the proposed technique to estimate wind speed with a root mean square error of approximately 1.9 m/s.

WiFi Indoor Localization with CSI Fingerprinting-Based Random Forest.

WiFi fingerprinting indoor positioning systems have extensive applied prospects. However, a vast amount of data in a particular environment has to be gathered to establish a fingerprinting database. Deficiencies of these systems are the lack of universality of multipath effects and a burden of heavy workload on fingerprint storage. Thus, this paper presents a novel Random Forest fingerprinting localization (RFFP) method using channel state information (CSI), which utilizes the Random Forest model trained in the offline stage as fingerprints in order to economize memory space and possess a good anti-multipath characteristic. Furthermore, a series of specific experiments are conducted in a microwave anechoic chamber and an office to detail the localization performance of RFFP with different wireless channel circumstances, system parameters, algorithms, and input datasets. In addition, compared with other algorithms including K-Nearest-Neighbor (KNN), Weighted K-Nearest-Neighbor (WKNN), REPTree, CART, and J48, the RFFP method provides far greater classification accuracy as well as lower mean location error. The proposed method offers outstanding comprehensive performance including accuracy, robustness, low workload, and better anti-multipath-fading.

A Novel 3D Pedestrian Navigation Method for a Multiple Sensors-Based Foot-Mounted Inertial System.

In this paper, we present a novel method for 3D pedestrian navigation of foot-mounted inertial systems by integrating a MEMS-IMU, barometer, and permanent magnet. Zero-velocity update (ZUPT) is a well-known algorithm to eliminate the accumulated error of foot-mounted inertial systems. However, the ZUPT stance phase detector using acceleration and angular rate is threshold-based, which may cause incorrect stance phase estimation in the running gait pattern. A permanent magnet-based ZUPT detector is introduced to solve this problem. Peaks extracted from the magnetic field strength waveform are mid-stances of stance phases. A model of peak-peak information and stance phase duration is developed to have a quantitative calculation method of stance phase duration in different movement patterns. Height estimation using barometer is susceptible to the environment. A height difference information aided barometer (HDIB) algorithm integrating MEMS-IMU and barometer is raised to have a better height estimation. The first stage of HDIB is to distinguish level ground/upstairs/downstairs and the second stage is to calculate height using reference atmospheric pressure obtained from the first stage. At last, a ZUPT-based adaptive average window length algorithm (ZUPT-AAWL) is proposed to calculate the true total travelled distance to have a more accurate percentage error (TTDE). This proposed method is verified via multiple experiments. Numerical results show that TTDE ranges from 0.32% to 1.04% in both walking and running gait patterns, and the height estimation error is from 0 m to 2.35 m.

A New Reassigned Spectrogram Method in Interference Detection for GNSS Receivers.

Interference detection is very important for Global Navigation Satellite System (GNSS) receivers. Current work on interference detection in GNSS receivers has mainly focused on time-frequency (TF) analysis techniques, such as spectrogram and Wigner-Ville distribution (WVD), where the spectrogram approach presents the TF resolution trade-off problem, since the analysis window is used, and the WVD method suffers from the very serious cross-term problem, due to its quadratic TF distribution nature. In order to solve the cross-term problem and to preserve good TF resolution in the TF plane at the same time, in this paper, a new TF distribution by using a reassigned spectrogram has been proposed in interference detection for GNSS receivers. This proposed reassigned spectrogram method efficiently combines the elimination of the cross-term provided by the spectrogram itself according to its inherent nature and the improvement of the TF aggregation property achieved by the reassignment method. Moreover, a notch filter has been adopted in interference mitigation for GNSS receivers, where receiver operating characteristics (ROCs) are used as metrics for the characterization of interference mitigation performance. The proposed interference detection method by using a reassigned spectrogram is evaluated by experiments on GPS L1 signals in the disturbing scenarios in comparison to the state-of-the-art TF analysis approaches. The analysis results show that the proposed interference detection technique effectively overcomes the cross-term problem and also keeps good TF localization properties, which has been proven to be valid and effective to enhance the interference Sensors 2015, 15 22168 detection performance; in addition, the adoption of the notch filter in interference mitigation has shown a significant acquisition performance improvement in terms of ROC curves for GNSS receivers in jamming environments.

A novel method for constructing a WIFI positioning system with efficient manpower.

With the rapid development of WIFI technology, WIFI-based indoor positioning technology has been widely studied for location-based services. To solve the problems related to the signal strength database adopted in the widely used fingerprint positioning technology, we first introduce a new system framework in this paper, which includes a modified AP firmware and some cheap self-made WIFI sensor anchors. The periodically scanned reports regarding the neighboring APs and sensor anchors are sent to the positioning server and serve as the calibration points. Besides the calculation of correlations between the target points and the neighboring calibration points, we take full advantage of the important but easily overlooked feature that the signal attenuation model varies in different regions in the regression algorithm to get more accurate results. Thus, a novel method called RSSI Geography Weighted Regression (RGWR) is proposed to solve the fingerprint database construction problem. The average error of all the calibration points' self-localization results will help to make the final decision of whether the database is the latest or has to be updated automatically. The effects of anchors on system performance are further researched to conclude that the anchors should be deployed at the locations that stand for the features of RSSI distributions. The proposed system is convenient for the establishment of practical positioning system and extensive experiments have been performed to validate that the proposed method is robust and manpower efficient.

An Improved Time-Frequency Analysis Method in Interference Detection for GNSS Receivers.

In this paper, an improved joint time-frequency (TF) analysis method based on a reassigned smoothed pseudo Wigner-Ville distribution (RSPWVD) has been proposed in interference detection for Global Navigation Satellite System (GNSS) receivers. In the RSPWVD, the two-dimensional low-pass filtering smoothing function is introduced to eliminate the cross-terms present in the quadratic TF distribution, and at the same time, the reassignment method is adopted to improve the TF concentration properties of the auto-terms of the signal components. This proposed interference detection method is evaluated by experiments on GPS L1 signals in the disturbing scenarios compared to the state-of-the-art interference detection approaches. The analysis results show that the proposed interference detection technique effectively overcomes the cross-terms problem and also preserves good TF localization properties, which has been proven to be effective and valid to enhance the interference detection performance of the GNSS receivers, particularly in the jamming environments.

A novel position estimation method based on displacement correction in AIS.

A new position estimation method by using the signals from two automatic identification system (AIS) stations is proposed in this paper. The time of arrival (TOA) method is enhanced with the displacement correction, so that the vessel's position can be determined even for the situation where it can receive the signals from only two AIS base stations. Its implementation scheme based on the mathematical model is presented. Furthermore, performance analysis is carried out to illustrate the relation between the positioning errors and the displacement vector provided by auxiliary sensors. Finally, the positioning method is verified and its performance is evaluated by simulation. The results show that the positioning accuracy is acceptable.