An innovation-based cycle-slip, multipath estimation, detection and mitigation method for tightly coupled GNSS/INS/Vision navigation in urban areas

An innovation-based cycle-slip, multipath estimation, detection and mitigation method for tightly coupled GNSS/INS/Vision navigation in urban areas | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article An innovation-based cycle-slip, multipath estimation, detection and mitigation method for tightly coupled GNSS/INS/Vision navigation in urban areas Bo Xu, Shoujian Zhang, Jingrong Wang, Jiancheng Li This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-3859258/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Accurate, continuous and reliable positioning is crucial in various applications. The multi-sensor fusion technique, for example, Global Navigation Satellite System (GNSS)/Inertial navigation system (INS)/Vision integration system, which leverages the strengths of different sensors to achieve high precision positioning services, has been widely applied in mass-market, which could provide global positioning information, is indispensable in localization with multi-sensor fusion. Nevertheless, the positioning performance of GNSS degrades in urban areas due to the frequent signal deteriorating and blocking, which further has a negative effect on the multi-sensor integration positioning. To alleviate the impact of multipath effects and cycle slips on positioning caused by obstructions in urban situations, we propose an innovation-based cycle slip/multipath estimation, detection and mitigation (I-EDM) method for GNSS pseudorange and carrier phase observations. The method obtains the innovations of GNSS observations with cluster analysis method, and then the innovations are used to detect the cycle slips and multipath. Compared with the residual-based preprocessing method, the innovation-based method avoids the residual overfitting caused by the least square method, resulting in better detection of outliers within the observations. The proposed method is validated by the vehicle experiments conducted in urban areas. Experimental results indicates that the accuracy of 0.23, 0.11, 0.31 m in the east, north and up components can be achieved by the GNSS/INS/Vision integration system with I-EDM method, which has a maximum of 21.6% improvement compared with that with residual-based EDM (R-EDM) method. Multi-sensor fusion Tightly coupled integration Cycle slip detection Multipath mitigation Innovation-based Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-3859258","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":267904889,"identity":"f3aff818-7f11-4503-a852-1314aa2aa777","order_by":0,"name":"Bo Xu","email":"","orcid":"","institution":"Wuhan University","correspondingAuthor":false,"prefix":"","firstName":"Bo","middleName":"","lastName":"Xu","suffix":""},{"id":267904890,"identity":"04d633fe-3009-4ddf-a284-41db0709b013","order_by":1,"name":"Shoujian Zhang","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABA0lEQVRIie2OsWrDMBCGzwTsRSGrOpS8gsAQMiWvckKQLh4KhUweBAGP8RroU5SCZ8OBswQ6dNHgoWAwHToYAhlDoqarRbIFqm/4dQf6uB/A47lHOODAvqPLWtoQ1ykP+gYFfhVRXquMX3Wzf07r2fvH9vM7yGqpo1XBIa17FVGXGG+qVhUmWU6DrJWaVUsOVduvcETFQlITwxYiKEhqnkx4oKm/2AaR2JFUnO/+lPGPWwGDcjXMaCbgib4uV5hbEQbVYLgm5CYJQR4pztjiZYqVq1ii9uxA81G+bbpuR495RG+mSx3FgKFNqeHcx46hXdEhAESlzfl5aDrnR4/H4/m3nADGB15T/i8mzgAAAABJRU5ErkJggg==","orcid":"","institution":"Wuhan University","correspondingAuthor":true,"prefix":"","firstName":"Shoujian","middleName":"","lastName":"Zhang","suffix":""},{"id":267904892,"identity":"b3234312-a9e2-40d9-ad14-ccff017f20dd","order_by":2,"name":"Jingrong Wang","email":"","orcid":"","institution":"Wuhan University","correspondingAuthor":false,"prefix":"","firstName":"Jingrong","middleName":"","lastName":"Wang","suffix":""},{"id":267904894,"identity":"0b7f857a-a26a-4e55-b545-d446d455f5db","order_by":3,"name":"Jiancheng Li","email":"","orcid":"","institution":"Wuhan University","correspondingAuthor":false,"prefix":"","firstName":"Jiancheng","middleName":"","lastName":"Li","suffix":""}],"badges":[],"createdAt":"2024-01-13 06:44:15","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-3859258/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-3859258/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":53687204,"identity":"b7467f75-5a88-4f44-85ca-77eee5311833","added_by":"auto","created_at":"2024-03-28 23:52:50","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":1451006,"visible":true,"origin":"","legend":"","description":"","filename":"manuscriptv9.pdf","url":"https://assets-eu.researchsquare.com/files/rs-3859258/v1_covered_161e39d8-f0bc-401b-b4a2-d5ee2a3c3d58.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"An innovation-based cycle-slip, multipath estimation, detection and mitigation method for tightly coupled GNSS/INS/Vision navigation in urban areas","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Multi-sensor fusion, Tightly coupled integration, Cycle slip detection, Multipath mitigation, Innovation-based","lastPublishedDoi":"10.21203/rs.3.rs-3859258/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-3859258/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"\u003cp\u003eAccurate, continuous and reliable positioning is crucial in various applications. The multi-sensor fusion technique, for example, Global Navigation Satellite System (GNSS)/Inertial navigation system (INS)/Vision integration system, which leverages the strengths of different sensors to achieve high precision positioning services, has been widely applied in mass-market, which could provide global positioning information, is indispensable in localization with multi-sensor fusion. Nevertheless, the positioning performance of GNSS degrades in urban areas due to the frequent signal deteriorating and blocking, which further has a negative effect on the multi-sensor integration positioning. To alleviate the impact of multipath effects and cycle slips on positioning caused by obstructions in urban situations, we propose an innovation-based cycle slip/multipath estimation, detection and mitigation (I-EDM) method for GNSS pseudorange and carrier phase observations. The method obtains the innovations of GNSS observations with cluster analysis method, and then the innovations are used to detect the cycle slips and multipath. Compared with the residual-based preprocessing method, the innovation-based method avoids the residual overfitting caused by the least square method, resulting in better detection of outliers within the observations. The proposed method is validated by the vehicle experiments conducted in urban areas. 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