{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T15:11:48Z","timestamp":1780413108949,"version":"3.54.1"},"reference-count":27,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2021,5,28]],"date-time":"2021-05-28T00:00:00Z","timestamp":1622160000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["41974033"],"award-info":[{"award-number":["41974033"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["KFJJ20200705"],"award-info":[{"award-number":["KFJJ20200705"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Zhe Jiang Key laboratory of General Aviation Operation technology","award":["JDGA2020-11"],"award-info":[{"award-number":["JDGA2020-11"]}]},{"DOI":"10.13039\/501100010014","name":"Six Talent Peaks Project in Jiangsu Province","doi-asserted-by":"publisher","award":["KTHY-014"],"award-info":[{"award-number":["KTHY-014"]}],"id":[{"id":"10.13039\/501100010014","id-type":"DOI","asserted-by":"publisher"}]},{"name":"States Key Laboratory of Air Traffic Management System and Technology","award":["SKLATM201904"],"award-info":[{"award-number":["SKLATM201904"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>The performance requirements for Global Navigation Satellite Systems (GNSS) are becoming more demanding as the range of mission-critical vehicular applications, including the Unmanned Aerial Vehicle (UAV) and ground vehicle-based applications, increases. However, the accuracy and reliability of GNSS in some environments, such as in urban areas, are often affected by non-line-of-sight (NLOS) signals and multipath effects. It is therefore essential to develop an effective fault detection scheme that can be applied to GNSS observations so as to ensure that the vehicle positioning can be calculated with a high accuracy. In this paper, we propose an online dataset based faulty GNSS measurement detection and exclusion algorithm for vehicle positioning that takes account of the NLOS\/multipath affected scenarios. The proposed algorithm enables a real-time online dataset based fault detection and exclusion scheme, which makes it possible to detect multiple faults in different satellites simultaneously and accurately, thereby allowing real-time quality control of GNSS measurements in dynamic urban positioning applications. The algorithm was tested with simulated\/artificial step errors in various scenarios in the measured pseudoranges from a dataset acquired from a UAV in an open area. Furthermore, a real-world test was also conducted with a ground-vehicle driving in a dense urban environment to validate the practical efficiency of the proposed algorithm. The UAV based simulation exhibits a fault detection rate of 100% for both single and multi-satellite fault scenarios, with the horizontal positioning accuracy improved to about 1 metre from tens of metres after fault detection and exclusion. The ground vehicle-based real test shows an overall improvement of 26.1% in 3D positioning accuracy in an urban area compared to the traditional least square method.<\/jats:p>","DOI":"10.3390\/rs13112117","type":"journal-article","created":{"date-parts":[[2021,5,31]],"date-time":"2021-05-31T03:45:29Z","timestamp":1622432729000},"page":"2117","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["A New Faulty GNSS Measurement Detection and Exclusion Algorithm for Urban Vehicle Positioning"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1918-6576","authenticated-orcid":false,"given":"Qi","family":"Cheng","sequence":"first","affiliation":[{"name":"College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China"},{"name":"State Key Laboratory of Air Traffic Management System and Technology, Nanjing 210007, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ping","family":"Chen","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Air Traffic Management System and Technology, Nanjing 210007, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2252-9944","authenticated-orcid":false,"given":"Rui","family":"Sun","sequence":"additional","affiliation":[{"name":"College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junhui","family":"Wang","sequence":"additional","affiliation":[{"name":"College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yi","family":"Mao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Air Traffic Management System and Technology, Nanjing 210007, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Washington Yotto","family":"Ochieng","sequence":"additional","affiliation":[{"name":"College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China"},{"name":"Department of Civil and Environmental Engineering, Imperial College London, London SW7 2AZ, UK"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,5,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1016\/j.isprsjprs.2014.02.013","article-title":"Unmanned aerial systems for photogrammetry and remote sensing: A review","volume":"92","author":"Colomina","year":"2014","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"327","DOI":"10.1017\/S0373463307004237","article-title":"Failure modes and models for integrated GPS\/INS systems","volume":"60","author":"Bhatti","year":"2007","journal-title":"J. Navig."},{"key":"ref_3","unstructured":"Bhatti, U.I. (2007). Improved Integrity Algorithms for the Integrated GPS\/INS Systems in the Presence of Slowly Growing Errors. [Ph.D. Thesis, Imperial College London]."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"777","DOI":"10.1186\/BF03352281","article-title":"An extended weight model for GPS phase observations","volume":"52","author":"Wieser","year":"2000","journal-title":"Earth Planets Space"},{"key":"ref_5","unstructured":"Heinrichs, G., Lemke, N., Neubauer, A., Kronberger, R., Schmid, A., Rohmer, G., F\u00f6rster, F., Avila-Rodriguez, J.A., Pany, T., and Eissfeller, B. (2004, January 10\u201313). Galileo\/GPS Receiver Architecture for High Sensitivity Acquisition. Proceedings of the International Symposium on Signals, Systems, and Electronics (ISSSE\u201904), Linz, Austria."},{"key":"ref_6","unstructured":"Blanch, J., Walter, T., Lee, Y., Pervan, B., Rippl, M., and Spletter, A. (2012, January 22\u201325). Advanced RAIM user algorithm description: Integrity support message processing, fault detection, exclusion, and protection level calculation. Proceedings of the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation, (ION GNSS+ 2012), Savannah, GA, USA."},{"key":"ref_7","unstructured":"Nee, R.D.J.V. (December, January 29). The Multipath Estimating Delay Lock Loop. Proceedings of the ISSTA IEEE Second International Symposium on Spread Spectrum Techniques and Applications, Yokohama, Japan."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"117","DOI":"10.1002\/j.2161-4296.2003.tb00323.x","article-title":"LAAS Integrated Multipath-Limiting Antenna","volume":"50","author":"Thornberg","year":"2003","journal-title":"Navigation"},{"key":"ref_9","unstructured":"Groves, P., Jiang, Z., Rudi, M., and Strode, P. (2013, January 16\u201320). A Portfolio Approach to NLOS and Multipath Mitigation in Dense Urban Areas. Proceedings of the 26th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2013), Nashville, TN, USA."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Soloviev, A., and Graas, F.V. (2008, January 5\u20138). Utilizing multipath reflections in deeply integrated GPS\/INS architecture for navigation in urban environments. Proceedings of the 2008 IEEE\/ION Position, Location and Navigation Symposium, Monterey, CA, USA.","DOI":"10.1109\/PLANS.2008.4570094"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"22","DOI":"10.1109\/TITS.2008.2011688","article-title":"GPS multipath mitigation for urban area using omnidirectional infrared camera","volume":"10","author":"Meguro","year":"2009","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"417","DOI":"10.1017\/S0373463311000087","article-title":"Shadow Matching: A New GNSS Positioning Technique for Urban Canyons","volume":"64","author":"Groves","year":"2011","journal-title":"J. Navig."},{"key":"ref_13","unstructured":"Lee, Y.C. (2004, January 24\u201326). Analysis of Range and Position Comparison Methods as a Means to Provide GPS Integrity in the User Receiver. Proceedings of the 42nd Annual Meeting of The Institute of Navigation, Seattle, WA, USA."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1002\/j.2161-4296.1988.tb00955.x","article-title":"Autonomous GPS Integrity Monitoring Using the Pseudorange Residual","volume":"35","author":"Parkinson","year":"1988","journal-title":"Navigation"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"483","DOI":"10.1002\/j.2161-4296.1988.tb00975.x","article-title":"Navigation System Integrity Monitoring Using Redundant Measurements","volume":"35","author":"Sturza","year":"1988","journal-title":"Navigation"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1002\/j.2161-4296.1988.tb00939.x","article-title":"Self-Contained GPS Integrity Check Using Maximum Solution Separation","volume":"35","author":"Brown","year":"1988","journal-title":"Navigation"},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"425","DOI":"10.1002\/j.2161-4296.1997.tb02358.x","article-title":"Solution of the Two-Failure GPS RAIM Problem under Worst-Case Bias Conditions: Parity Space Approach","volume":"44","author":"Brown","year":"1997","journal-title":"Navigation"},{"key":"ref_18","unstructured":"Rippl, M., Spletter, A., and G\u00fcnther, C. (2011, January 24\u201326). Parametric Performance Study of Advanced Receiver Autonomous Integrity Monitoring (ARAIM) for Combined GNSS Constellations. Proceedings of the 2011 International Technical Meeting of the Institute of Navigation, San Diego, CA, USA."},{"key":"ref_19","unstructured":"Kuusniemi, H., and Lachapelle, G. (2004, January 1\u201315). GNSS signal reliability testing in urban and indoor environments. Proceedings of the 2004 National Technical Meeting of the Institute of Navigation, San Diego, CA, USA."},{"key":"ref_20","unstructured":"Blanch, J., Walter, T., and Enge, P. (2015, January 26\u201328). Efficient multiple fault exclusion with a large number of pseudorange measurements. Proceedings of the 2015 International Technical Meeting of the Institute of Navigation, Dana Point, CA, USA."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"1909","DOI":"10.1109\/JSEN.2017.2654359","article-title":"Multiple faulty gnss measurement exclusion based on consistency check in urban canyons","volume":"99","author":"Hsu","year":"2017","journal-title":"IEEE Sens. J."},{"key":"ref_22","unstructured":"Kaddour, M.A., Najjar, M.E.B.E., Naja, Z., Moubayed, N., and Tmazirte, N.D.A. (May, January 29). Fault detection and exclusion for GNSS measurements using observations projection on information space. Proceedings of the Fifth International Conference on Digital Information & Communication Technology & Its Applications, Beirut, Lebanon."},{"key":"ref_23","unstructured":"Schroth, G., Ene, A., Blanch, J., Walter, T., and Enge, P. (2008, January 25). Failure Detection and Exclusion via Range Consensus. Proceedings of the European Navigation Conference 2008, DLR, Toulouse, France."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"261","DOI":"10.1007\/s10291-007-0083-7","article-title":"An approach to aid INS using time-differenced GPS carrier phase (TDCP) measurements","volume":"12","author":"Soon","year":"2008","journal-title":"Gps Solut."},{"key":"ref_25","unstructured":"Welch, G. (2001). Kalman Filter, Siggraph Tutorial."},{"key":"ref_26","unstructured":"Maybeck, P.S. (1982). Stochastic Models, Estimation, and Control, AcAcademic Press."},{"key":"ref_27","unstructured":"Gatti, P.L. (1984). Probability Theory and Mathematical Statistics for Engineers, Pergamon Press."}],"container-title":["Remote Sensing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2072-4292\/13\/11\/2117\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T06:09:40Z","timestamp":1760162980000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2072-4292\/13\/11\/2117"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,28]]},"references-count":27,"journal-issue":{"issue":"11","published-online":{"date-parts":[[2021,6]]}},"alternative-id":["rs13112117"],"URL":"https:\/\/doi.org\/10.3390\/rs13112117","relation":{},"ISSN":["2072-4292"],"issn-type":[{"value":"2072-4292","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,5,28]]}}}