Pseudorange Rigidity and Solvability of Cooperative GNSS Positioning

IF 4 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

IEEE Transactions on Control of Network Systems Pub Date : 2024-07-23 DOI:10.1109/TCNS.2024.3432831

Colin Cros;Pierre-Olivier Amblard;Christophe Prieur;Jean-François Da Rocha

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引用次数: 0

Abstract

Global Navigation Satellite Systems (GNSS) are a widely used technology for positioning and navigation. GNSS positioning relies on pseudorange measurements from satellites to receivers. A pseudorange is the apparent distance between two agents deduced from the time-of-flight of a signal sent from one agent to the other, because of the lack of synchronization between the agents' clocks, it is a biased version of their distance. In this article, we introduce a new rigidity theory adapted to pseudorange measurements. The peculiarity of pseudoranges is that they are asymmetrical measurements. Therefore, unlike other usual rigidities, the graphs of pseudorange frameworks are directed. In this article, pseudorange rigidity is proved to be a generic property of the underlying undirected graph of constraints. The main result is a characterization of rigid pseudorange graphs as combinations of rigid distance graphs and connected graphs. This new theory is adapted for GNSS. It provides new insights into the minimum number of satellites needed to locate a receiver and is applied to the localization of GNSS cooperative networks of receivers. The interests of asymmetrical constraints in the context of formation control are also discussed.

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来源期刊

IEEE Transactions on Control of Network Systems Mathematics-Control and Optimization

CiteScore

7.80

自引率

7.10%

发文量

169

期刊介绍： The IEEE Transactions on Control of Network Systems is committed to the timely publication of high-impact papers at the intersection of control systems and network science. In particular, the journal addresses research on the analysis, design and implementation of networked control systems, as well as control over networks. Relevant work includes the full spectrum from basic research on control systems to the design of engineering solutions for automatic control of, and over, networks. The topics covered by this journal include: Coordinated control and estimation over networks, Control and computation over sensor networks, Control under communication constraints, Control and performance analysis issues that arise in the dynamics of networks used in application areas such as communications, computers, transportation, manufacturing, Web ranking and aggregation, social networks, biology, power systems, economics, Synchronization of activities across a controlled network, Stability analysis of controlled networks, Analysis of networks as hybrid dynamical systems.