How a GNSS Receiver Is Held May Affect Static Horizontal Position Accuracy

Study of Global Navigation Satellite System Receivers' Accuracy for Unmanned Vehicles

The development of unmanned ground vehicles and unmanned aerial vehicles requires high-precision navigation due to the autonomous motion and higher traffic intensity. The existing L1 band GNSS receivers are a good and cheap decision for smartphones, vehicle navigation, fleet management systems, etc., but their accuracy is not good enough for many civilian purposes. At the same time, real-time kinematic (RTK) navigation allows for position precision in a sub-centimeter range, but the system cost significantly narrows this navigation to a very limited area of applications, such as geodesy. A practical solution includes the integration of dual-band GNSS receivers and inertial sensors to solve high-precision navigation tasks, but GNSS position accuracy may significantly affect IMU performance due to having a great impact on Kalman filter performance in unmanned vehicles. The estimation of dilution-of-precision (DOP) parameters is essential for the filter performance as the optimality of the estimation in the filter is closely connected to the quality of a priori information about the noise covariance matrix and measurement noise covariance. In this regard, the current paper analyzes the DOP parameters of the latest generation dual-band GNSS receivers and compares the results with the L1 ones. The study was accomplished using two types of antennas-L1/L5 band patch and wideband helix antennas, which were designed and assembled by the authors. In addition, the study is extended with a comparison of GNSS receivers from different generations but sold on the market by one of the world's leading GNSS manufacturers. The analyses of dilution-of-precision (DOP) parameters show that the introduction of dual-band receivers may significantly increase the navigation precision in a sub-meter range, in addition to multi-constellation signal reception. The fast advances in the performance of the integrated CPU in GNSS receivers allow the number of correlations and tracking satellites to be increased from 8-10 to 24-30, which also significantly improves the position accuracy even of L1-band receivers.

Performance of GPS/GPRS tracking devices improves with increased fix interval and is not affected by animal deployment

The use of GPS tracking technologies has revolutionized the study of animal movement providing unprecedentedly detailed information. The characterization of GPS accuracy and precision under different conditions is essential to correctly identify the spatial and temporal resolution at which studies can be conducted. Here, we examined the influence of fix acquisition interval and device deployment on the performance of a new GPS/GSM solar powered device. Horizontal and vertical accuracy and precision of locations were obtained under different GPS fix acquisition intervals (1min, 20 min and 60 min) in a stationary test. The test devices were deployed on pre-fledgling white storks (Ciconia ciconia) and we quantified accuracy and precision after deployment while controlling for bias caused by variation in habitat, topography, and animal movement. We also assessed the performance of GPS-Error, a metric provided by the device, at identifying inaccurate locations (> 10 m). Average horizontal accuracy varied between 3.4 to 6.5 m, and vertical accuracy varied between 4.9 to 9.7 m, in high (1 min) and low frequency (60 min) GPS fix intervals. These values were similar after the deployment on white storks. Over 84% of GPS horizontal positions and 71% of vertical positions had less than 10m error in accuracy. Removing 3% of data with highest GPS-Error eliminated over 99% of inaccurate positions in high GPS frequency intervals, but this metric was not effective in the low frequency intervals. We confirmed the suitability of these devices for studies requiring horizontal and vertical accuracies of 5-10m. For higher accuracy data, intensive GPS fix intervals should be used, but this requires more sophisticated battery management, or larger batteries and devices.

Evaluation of Static Autonomous GNSS Positioning Accuracy Using Single-, Dual-, and Tri-Frequency Smartphones in Forest Canopy Environments

Determining the current position in a forest is essential for many applications and is often carried out using smartphones. Modern smartphones now support various GNSS constellations and multi-frequency analyses, which are expected to provide more accurate positioning. This study compares the static autonomous GNSS positioning accuracy under forest conditions of four multi-frequency multi-constellation smartphones as well as six single-frequency smartphones and a geodetic receiver. Measurements were carried out at 15 different study sites under forest canopies, with 24 measurements lasting approximately 10 min each taken for the 11 GNSS receivers. The results indicate that, on average, multi-frequency smartphones can achieve a higher positioning accuracy. However, the accuracy varies greatly between smartphones, even between identical or quasi-identical tested smartphones. Therefore, no accuracy should be generalised depending on the number of usable frequencies or constellations, but each smartphone should be considered separately. The dual-frequency Xiaomi Mi 10 clearly stands out compared with the other smartphone with a DRMS of 4.56 m and has a 34% lower absolute error than the best single-frequency phone.

Effects of Canopy and Multi-Epoch Observations on Single-Point Positioning Errors of a GNSS in Coniferous and Broadleaved Forests

Global navigation satellite systems (GNSS) can quickly, efficiently, and accurately provide precise coordinates of points, lines, and surface elements, plus complete surveys and determine various boundary lines in forest investigations and management. The system has become a powerful tool for dynamic forest resource investigations and monitoring. GNSS technology plays a unique and important role in estimating timber volume, calculating timber cutting area, and determining the location of virgin forest roads and individual trees in forests. In this study, we quantitatively analyzed the influence of crown size and observation time on the single-point positioning accuracy of GNSS receivers for different forest types. The GNSS located single points for different forest types and crown sizes, enabling the collection of data. The locating time for each tree was more than 10 min. Statistical methods were used to analyze the positioning accuracy of multi-epoch data, and a model was developed to estimate the maximum positioning errors under different forest conditions in a certain positioning time. The results showed that for a continuous positioning time of approximately 10 min, the maximum positioning accuracies in coniferous and broadleaf forests were obtained, which were 12.13 and 15.11 m, respectively. The size of a single canopy had no obvious influence on the single-point positioning error of the GNSS, and canopy density was proven to be closely related to the positioning accuracy of a GNSS. The determination coefficients (R2) in the regression analysis of the general model, coniferous forest model, and broadleaved forest model that were developed in this study were 0.579, 0.701, and 0.544, respectively. These results indicated that the model could effectively predict the maximum positioning error in a certain period of time under different forest types and crown conditions at middle altitudes, which has important guiding significance for forest resource inventories and precise forest management.

The applicability of recreation-grade GNSS receiver (GPS watch, Suunto Ambit Peak 3) in a forested and an open area compared to a mapping-grade receiver (Trimble Juno T41)

Due to developments in global navigation satellite systems (GNSS) and the miniaturization of their components, the usage of Global Positioning System (GPS) is no longer restricted to professional applications, but has become available in various consumer type devices, such as wristwatches. These commercial devices, however, were primarily designed for tracking activities in predominately urban settings and their accuracy has not been tested in forested areas. In this study, we present an assessment of the positional accuracy of a GPS watch (Ambit Peak 3, Suunto, Finland) under different forest cover types, seasons and meteorological conditions within the Whitehall Forest GPS Test Site located in Athens, Georgia, USA. As a standard of comparison, the performance of the GPS watch measurements was juxtaposed to that of a mapping-grade receiver (Juno T41, Trimble Inc., USA). In this study, we analyzed the differences between the determined and control positions using root-mean-square-error (RMSE), along with the distribution of observed positions through the standard deviational ellipse. The results suggest that the seasonal variations contributed to a statistically significant impact on the RMSE values for the GPS watch. However, there were no statistically significant differences in horizontal position accuracy by forest cover-type when using the GPS watch. Furthermore, no significant differences were found in horizontal position accuracy during the leaf-off period between the RMSE values for the GPS watch and those of the mapping-grade receiver. Lastly, the positional accuracies for both types of receivers were found to be weakly, but significantly correlated with fluctuations in air temperature and absolute humidity.

Recent Contributions of Some Fields of the Electronics in Development of Forest Operations Technologies

In the last years, there has been a growing need to improve forest-wood chain concerning all three pillars of sustainability (economic, environmental, and social). Using electronic systems, in particular GIS, GNSS, and various kinds of sensors related to forest harvesting, is clearly one of the most powerful instruments to reach this aim. The contribution of these tools to forest operation is wide and various. One of the most important application was integrating ICT and GPS/GNSS on-board systems on modern forest machines. This allowed one to ensure multiple benefits to forest operation field. On the one hand, electronic systems, and particularly GIS, could be used to improve forest harvesting with a previous planning of the skid trails network, in order to minimize utilization impacts and risks for operators, ensuring at the same time high work productivity. Moreover, GIS developed files could also be implemented in modern forest machine GPS/GNSS systems, helping forest machines operators to move only along a designed skid trails network or making it possible to avoid restricted access areas. On the other hand, modern forest machines could be equipped with complex and accurate sensors that are able to determine, register, and share information about wood biomass quantity and quality and even undertake economic evaluation of stumpage value. Finally, the input and output of these systems and sensors could be implemented in a decision support system (DSS) ensuring the best silvicultural and operative alternative from a sustainable forest management point of view. A detailed review of the contribution of electronics in the development of forest operations is provided here.

Smartphone GPS accuracy study in an urban environment

An iPhone 6 using the Avenza software for capturing horizontal positions was employed to understand relative positional accuracy in an urban environment, during two seasons of the year, two times of day, and two perceived WiFi usage periods. On average, time of year did not seem to influence the average error observed in horizontal positions when GPS-only (no WiFi) capability was enabled, nor when WiFi was enabled. Observations of average horizontal position error only seemed to improve with time of day (afternoon) during the leaf-off season. During each season and during each time of day, horizontal position error seemed to improve in general during perceived high WiFi usage periods (when more people were present). Overall average horizontal position accuracy of the iPhone 6 (7–13 m) is consistent with the general accuracy levels observed of recreation-grade GPS receivers in potential high multi-path environments.

Positioning Methods and the Use of Location and Activity Data in Forests

In this paper, we provide an overview of positioning systems for moving resources in forest and fire management and review the related literature. Emphasis is placed on the accuracy and range of different localization and location-sharing methods, particularly in forested environments and in the absence of conventional cellular or internet connectivity. We then conduct a second review of literature and concepts related to several emerging, broad themes in data science, including the terms location-based services (LBS), geofences, wearable technology, activity recognition, mesh networking, the Internet of Things (IoT), and big data. Our objective in this second review is to inform how these broader concepts, with implications for networking and analytics, may help to advance natural resource management and science in the future. Based on methods, themes, and concepts that arose in our systematic reviews, we then augmented the paper with additional literature from wildlife and fisheries management, as well as concepts from video object detection, relative positioning, and inventory-tracking that are also used as forms of localization. Based on our reviews of positioning technologies and emerging data science themes, we present a hierarchical model for collecting and sharing data in forest and fire management, and more broadly in the field of natural resources. The model reflects tradeoffs in range and bandwidth when recording, processing, and communicating large quantities of data in time and space to support resource management, science, and public safety in remote areas. In the hierarchical approach, wearable devices and other sensors typically transmit data at short distances using Bluetooth, Bluetooth Low Energy (BLE), or ANT wireless, and smartphones and tablets serve as intermediate data collection and processing hubs for information that can be subsequently transmitted using radio networking systems or satellite communication. Data with greater spatial and temporal complexity is typically processed incrementally at lower tiers, then fused and summarized at higher levels of incident command or resource management. Lastly, we outline several priority areas for future research to advance big data analytics in natural resources.

Tracking Performance in Endurance Racing Sports: Evaluation of the Accuracy Offered by Three Commercial GNSS Receivers Aimed at the Sports Market

Advances in global navigation satellite system (GNSS) technology have resulted in smaller and more accurate GNSS receivers, which have become increasingly suitable for calculating instantaneous performance parameters during sports competitions, for example by providing the difference in time between athletes at any location along a course. This study investigated the accuracy of three commercially available GNSS receivers directed at the sports market and evaluated their applicability for time analysis in endurance racing sports. The receivers evaluated were a 1 Hz wrist-worn standalone receiver (Garmin Forerunner 920XT, Gar-920XT), a 10 Hz standalone receiver (Catapult Optimeye S5, Cat-S5), and a 10 Hz differential receiver (ZXY-Go). They were validated against a geodetic, multi-frequency receiver providing differential position solutions (accuracy < 5 cm). Six volunteers skied four laps on a 3.05 km track prepared for cross-country skiing, with all four GNSS receivers measuring simultaneously. Deviations in position (horizontal plane, vertical, direction of travel) and speed (horizontal plane and direction of travel) were calculated. In addition, the positions of all receivers were mapped onto a mapping trajectory along the ski track, and a time analysis of all 276 possible pairs of laps was performed. Specifically, the time difference between any two skiers for each integer meter along the track was calculated. ZXY-Go, CAT-S5, and GAR-920XT had horizontal plane position errors of 2.09, 1.04, and 5.29 m (third quartile, Q3), and vertical precision 2.71, 3.89, and 13.35 m (interquartile range, IQR), respectively. The precision in the horizontal plane speed was 0.038, 0.072, and 0.66 m s^-1 (IQR) and the time analysis precision was 0.30, 0.13, and 0.68 s (IQR) for ZXY-Go, Cat-S5, and Gar-920XT, respectively. However, the error was inversely related to skiing speed, implying that for the low speeds typically attained during uphill skiing, substantially larger errors can occur. Specifically, at 2.0 m s^-1 the Q3 was 0.96, 0.36, and 1.90 s for ZXY-Go, Cat-S5, and Gar-920XT, respectively. In summary, the differential (ZXY-Go) and 10 Hz standalone (Cat-S5) receivers performed substantially better than the wrist-worn receiver (Gar-920XT) in terms of horizontal position and horizontal speed calculations. However, all receivers produced sub-second accuracy in the time analysis, except at very low skiing speeds.