Rao-Blackwellized Particle Filter for Scintillation Detection and Position/Bias Estimation of Low-Latitude GNSS Receivers

Paulo R. P. Silva, Marcelo G. S. Bruno, Alison O. Moraes

Peer Reviewed

Abstract: In this paper, we use a Rao-Blackwellized Particle Filter (RBPF) for GNSS localization subject to ionospheric scintillation. The proposed filter assumes a mixed state vector containing continuous state variables related to the tridimensional (3D) aircraft position and GNSS receiver bias/drift, and a discrete scintillation switching variable for each satellite in view that indicates the presence or absence of scintillation. The dynamics of the scintillation switching variable is modeled by a Markov Chain with known a priori transition probabilities. The variance of the GNSS pseudorange measurement noise changes then as a function of the scintillation variable. Simulation results show that the proposed RBPF achieves a reduced root mean-square 3D position estimation error that is below the corresponding errors for the optimistic and the pessimistic Extended Kalman Filters, which assume, respectively, absence and presence of scintillation at all time instants.
Published in: Proceedings of the 2023 International Technical Meeting of The Institute of Navigation
January 24 - 26, 2023
Hyatt Regency Long Beach
Long Beach, California
Pages: 880 - 891
Cite this article: Silva, Paulo R. P., Bruno, Marcelo G. S., Moraes, Alison O., "Rao-Blackwellized Particle Filter for Scintillation Detection and Position/Bias Estimation of Low-Latitude GNSS Receivers," Proceedings of the 2023 International Technical Meeting of The Institute of Navigation, Long Beach, California, January 2023, pp. 880-891. https://doi.org/10.33012/2023.18659
Full Paper: ION Members/Non-Members: 1 Download Credit
Sign In