Simultaneous Localization and Mapping (SLAM) has always been the focus of the robot navigation for many decades and becomes a research hotspot in recent years. Because a SLAM system based on vision sensor is vulnerable to environment illumination and texture, the problem of initial scale ambiguity still exists in a monocular SLAM system. The fusion of a monocular camera and an inertial measurement unit (IMU) can effectively solve the scale blur problem, improve the robustness of the system, and achieve higher positioning accuracy. Based on a monocular visual-inertial navigation system (VINS-mono), a state-of-the-art fusion performance of monocular vision and IMU, this paper designs a new initialization scheme that can calculate the acceleration bias as a variable during the initialization process so that it can be applied to low-cost IMU sensors. Besides, in order to obtain better initialization accuracy, visual matching positioning method based on feature point is used to assist the initialization process. After the initialization process, it switches to optical flow tracking visual positioning mode to reduce the calculation complexity. By using the proposed method, the advantages of feature point method and optical flow method can be fused. This paper, the first one to use both the feature point method and optical flow method, has better performance in the comprehensive performance of positioning accuracy and robustness under the low-cost sensors. Through experiments conducted with the EuRoc dataset and campus environment, the results show that the initial values obtained through the initialization process can be efficiently used for launching nonlinear visual-inertial state estimator and positioning accuracy of the improved VINS-mono has been improved by about 10% than VINS-mono.

Dynamic deformation monitoring is a crucial component of the structural health monitoring of an offshore oil platform. Given the insensitivity of the Global Navigation Satellite System (GNSS) to high-frequency vibration information, a combination of GNSS and accelerometer is used for vibration monitoring of platform structures. A hybrid filter based on complementary ensemble empirical mode decomposition (CEEMD) combined with a Chebyshev filter is proposed to process the monitoring data. The extracted GNSS low-frequency displacement is fused with the high-frequency displacement obtained from acceleration integration to obtain the overall dynamic displacement of the platform. The experimental analysis shows that the combination of t-test and correlation coefficient can select the required intrinsic mode function (IMF), the proposed hybrid filter can reduce the noise error to a certain extent, and the quadratic frequency domain integration of the acceleration data can avoid the influence of the integration trend term. The correlation coefficient between the overall reconstructed displacement and the original GNSS monitoring data was 0.8576, and the signal correlation after denoising and refactoring was more than 85%, thereby preserving the essential information components. Integrated GNSS and accelerometer monitoring systems complement each other’s advantages, compensating for their shortcomings in monitoring the dynamic deformation of a structure.

Navigation and positioning are of increasing importance because they are becoming a new form of infrastructure. To ensure both development and security, this study designed a technical innovation structure to upgrade the GNSS (Global Navigation Satellite System) data transmission and real-time differential correction service system and proposed a new multiple cryptographic fusion algorithm to achieve the encryption and decryption of GNSS data and services. First, a GNSS station encrypts GNSS data with an encryption key and obtains a public key from a GNSS data center to encrypt the GNSS data encryption key. After that, identity authentication of a GNSS station is carried out, and an SSL VPN is established between the GNSS station and a GNSS data center before GNSS data are transmitted to the GNSS data center. Then, the GNSS data center decrypts the received GNSS data. The process of an intelligent terminal for real-time differential corrections is similar to that of the GNSS station and the GNSS data center. A GNSS sensor integrated with a cryptographic module was developed to validate the structure in an open environment. The results showed that the developed GNSS sensor was successful in encrypting the data, and the GNSS data center was able to decrypt the data correctly. For the performance test, a cryptography server was able support the requirements of GNSS applications. However, a cryptography server was optimal in supporting 40~50 GNSS stations simultaneously, whereas a cluster was suggested to be configured if the number of GNSS stations was more than 60. In conclusion, the method was able to ensure the validity, confidentiality, integrity, and non-repudiation of GNSS data and services. The proposed upgrading technology was suitable for coordinating GNSS development and security.

Satellite phase fractional cycle biases (FCBs) are crucial to precise point positioning with ambiguity resolution (PPP–AR), and they can improve the accuracy and reliability of a solution. Traditional methods need multiple iterations and need to keep the same reference when estimating satellite phase fractional cycle biases. In this paper, we propose an improved fast estimation of FCB, which does not need any iterations and can select any reference when estimating FCB. We compare the suitability and precision of a traditional and a proposed method by BDS-3 experiments. The results of the FCB experiments show that the calculated time of the proposed method is less than the traditional method and that computation efficiency is increased by 34.71%. These two methods have a similar rate of fixed epochs and ambiguities in the static and dynamic models. However, the time to first fix (TTFF) of the proposed method decreased by 19.69% and 28.83% for the static and dynamic models, respectively. The results show that the proposed method has a better convergence time in PPP–AR.

The ionospheric delay is one of the important error sources in the Global Navigation Satellite System (GNSS) data processing. With the rapid construction and development of GNSS, the abundant satellite resources have brought new opportunities for ionospheric monitoring. To further investigate the performances and abilities of Galileo and BDS in ionosphere modeling, we study the ionosphere modeling based on the 15th order spherical harmonic function, and 364 stations around the world are selected for global ionospheric modeling of GPS, GLONASS, Galileo and BDS systems under ionospheric quiet and active conditions, respectively. The results show that the average biases of the ionospheric models built by GPS, GLONASS and Galileo are relatively small, which are within 2 Total Electron Content Unit (TECU) as compared to the Center for Orbit Determination in Europe (CODE) global ionospheric map (GIM), while the average biases of the models built by BDS are between 6 and 8 TECU during the ionospheric quiet and active days, respectively. In addition, in order to analyze the modeling performances before and after using BDS geostationary earth orbit (GEO) satellites, BDS is divided into two groups, in which one group contains medium earth orbit (MEO), inclined geosynchronous orbit (IGSO) and GEO satellites; and the other group contains only MEO and IGSO satellites. The results show that the influence of GEO satellites on ionospheric modeling is less than 1 TECU. Due to the distribution of the stations, the 0-value region in the ionospheric model is mainly distributed in the mid and high-latitude regions of the southern hemisphere. Since the ionospheric parameters are lumped with the Differential Code Bias (DCB), we also estimate the DCB parameters and analyze their performances. The DCB estimated in ionosphere modeling shows strong stability, with the average biases of GPS, GLONASS, Galileo and BDS under 0.25 ns, 0.25 ns, 0.2 ns and 0.42 ns, respectively. We also estimate other DCB types of the four GNSS systems. The results show that the DCB is stable and shows consistency with Chinese Academy of Sciences (CAS) DCB products.

Due to the difference in the quality of the global assimilation data and the ability to reproduce the real conditions of the atmosphere, the hourly atmospheric temperature at 2 m above the land surface from ERA5 cannot be used with complete confidence for the atmospheric weighted mean temperature ($T_m$) calculations and global navigation satellite system (GNSS) precipitable water vapor (PWV) inversion. A systematic and complete refinement method is proposed, including the compensation of elevation matching bias of gridded temperature, correction of fixed-time cusp data fitting and refinement based on the remove-and-restore model. The usability and accuracy improvement of the refined ERA5 2 m atmospheric temperature in the $T_m$ and PWV calculation were validated based on three GNSS stations. The result shows that the average accuracy of the $T_m$ and PWV for the entire region could be increased by 74.4% and 75.1%, respectively. The RMS of the highest station was reduced from 4.28 K to 0.62 K for the $T_m$ and 0.662 mm to 0.203 mm for the PWV, and the RMS of other stations was reduced from 1.25 to 0.44 K for the $T_m$ and 0.211 mm to 0.101 mm for the PWV. This overall refinement method has important implications for atmospheric remote sensing.