Technique PPP-RTK combines the advantages of both the Precise Point Positioning(PPP)and the Real-Time Kinematic(RTK)positioning.With the emergence of multi-frequency Global Navigation Satellite System(GNSS)observation...Technique PPP-RTK combines the advantages of both the Precise Point Positioning(PPP)and the Real-Time Kinematic(RTK)positioning.With the emergence of multi-frequency Global Navigation Satellite System(GNSS)observations,it is preferable to formulate PPP-RTK functional models based on original(undiferenced and uncombined)observations.While there exist many variants of the undiferenced and uncombined PPP–RTK models,a unifed theoretical framework needs developing to link these variants.In this contribution,we formulate a class of undiferenced and uncombined PPP-RTK functional models in a systematic way and cast them in a unifed framework.This framework classifes the models into a code-plus-phase category and a phase-only category.Each category covers a variety of measurement scenarios on the network side,ranging from small-,medium-to large-scale networks.For each scenario,special care has been taken of the distinct ionospheric constraints and the diference between Code Division Multiple Access(CDMA)and Frequency Division Multiple Access(FDMA)signals.The key to systematically formulating these models lies in how to deal with the rank defciency problems encountered.We opt for the Singularity-basis(S-basis)theory,giving rise to the full-rank observation equations in which the estimable parameters turn out to be the functions of original parameters and those selected as the S-basis.In the sequel,it becomes straightforward to derive for each scenario the user model as it,more or less,amounts to the single-receiver network model.Benefting from the presented theoretical framework,the relationships and diferences between various undiferenced and uncombined PPP-RTK models become clear,which can lead to the better use of these models in a specifc situation.展开更多
This paper introduces infrastructure-to-vehicle and vehicle-to-vehicle communications using VLC.A VLC coupled with a high-speed image sensor is introduced(i.e.,image sensor communication).The high-speed image sensors ...This paper introduces infrastructure-to-vehicle and vehicle-to-vehicle communications using VLC.A VLC coupled with a high-speed image sensor is introduced(i.e.,image sensor communication).The high-speed image sensors provide eyes for autonomous and connected vehicles.VLC imparts data reception capability to image sensors with necessary functions,which can then be provided to autonomous and connected vehicles.In this paper,some of our research on coupling VLC to high-speed image sensors is introduced,including our key findings:the basics of ISC,a vehicle motion model,and range estimation.展开更多
基金This work was partially funded by the National Natural Science Foundation of China(Grant Nos.41774042,42174034)the Key Research and Development Plan of Hubei Province(Grant No.2020BHB014)+1 种基金the Scientifc Instrument Developing Project of the Chinese Academy of Sciences(Grant No.YJKYYQ20190063)The frst author is supported by the CAS Pioneer Hundred Talents Program。
文摘Technique PPP-RTK combines the advantages of both the Precise Point Positioning(PPP)and the Real-Time Kinematic(RTK)positioning.With the emergence of multi-frequency Global Navigation Satellite System(GNSS)observations,it is preferable to formulate PPP-RTK functional models based on original(undiferenced and uncombined)observations.While there exist many variants of the undiferenced and uncombined PPP–RTK models,a unifed theoretical framework needs developing to link these variants.In this contribution,we formulate a class of undiferenced and uncombined PPP-RTK functional models in a systematic way and cast them in a unifed framework.This framework classifes the models into a code-plus-phase category and a phase-only category.Each category covers a variety of measurement scenarios on the network side,ranging from small-,medium-to large-scale networks.For each scenario,special care has been taken of the distinct ionospheric constraints and the diference between Code Division Multiple Access(CDMA)and Frequency Division Multiple Access(FDMA)signals.The key to systematically formulating these models lies in how to deal with the rank defciency problems encountered.We opt for the Singularity-basis(S-basis)theory,giving rise to the full-rank observation equations in which the estimable parameters turn out to be the functions of original parameters and those selected as the S-basis.In the sequel,it becomes straightforward to derive for each scenario the user model as it,more or less,amounts to the single-receiver network model.Benefting from the presented theoretical framework,the relationships and diferences between various undiferenced and uncombined PPP-RTK models become clear,which can lead to the better use of these models in a specifc situation.
基金supported in part by Japan Society for the Promotion of Science(JSPS)KAKENHI(No.16H04364).
文摘This paper introduces infrastructure-to-vehicle and vehicle-to-vehicle communications using VLC.A VLC coupled with a high-speed image sensor is introduced(i.e.,image sensor communication).The high-speed image sensors provide eyes for autonomous and connected vehicles.VLC imparts data reception capability to image sensors with necessary functions,which can then be provided to autonomous and connected vehicles.In this paper,some of our research on coupling VLC to high-speed image sensors is introduced,including our key findings:the basics of ISC,a vehicle motion model,and range estimation.
