Benvenuto Lorenzo, Cosso Tiziano, Delzanno Giorgio
DIBRIS-Department of Informatics, Bioengineering, Robotics and Systems Engineering, University of Genoa, 16146 Genoa, Italy.
Gter s.r.l, 16128 Genoa, Italy.
Sensors (Basel). 2022 Aug 3;22(15):5790. doi: 10.3390/s22155790.
We present a solution for improving the robustness of GNSS positioning with Android devices. The proposed method combines an acquisition phase performed in a dedicated Android app (thus working on the edge) and a processing phase, based on a modified version of the open source library RTKLIB, performed on a dedicated server. The processing phase applies an improved version of the RTK library based on an adaptive algorithm for mitigating the multipath effect on satellite radio signals received by smartphone's antennas. The algorithm is built on top of an extended version of the sigma-epsilon model in which weights associated to observables potentially affected by multipath errors are computed using logged data. In the paper, we will focus our attention on the architecture of the proposed solution and discuss preliminary experimental results obtained with the resulting system.
我们提出了一种提高安卓设备全球导航卫星系统（GNSS）定位鲁棒性的解决方案。所提出的方法结合了在专用安卓应用程序中执行的采集阶段（即在边缘设备上运行）和基于开源库RTKLIB的修改版本在专用服务器上执行的处理阶段。处理阶段应用了基于自适应算法的改进版RTK库，以减轻智能手机天线接收到的卫星无线电信号的多径效应。该算法基于sigma-epsilon模型的扩展版本构建，其中使用记录的数据计算与可能受多径误差影响的观测值相关的权重。在本文中，我们将重点关注所提出解决方案的架构，并讨论由此产生的系统所获得的初步实验结果。
