About Non-Line-Of-Sight Satellite Detection and Exclusion in a 3D Map-Aided Localization Algorithm

Sensors

Sstien Peyraud¹  David Bétaille²  Stéphane Renault¹  Miguel Ortiz²  Florian Mougel²  Dominique Meizel¹ 

[1] XLIM, UMR CNRS 7252, Limoges University, 87060 Limoges, France; E-Mails:;French Institute of Science and Technology for Transport, Development and Networks (IFSTTAR), 44344 Bouguenais (Nantes), France; E-Mails:

关键词: localization;    satellite navigation;    intelligent transportation system;    NLOS;    3D navigable road maps;    3D kinematic model;    data fusion;    EKF;    set membership estimation;   

DOI  :  10.3390/s130100829

来源: mdpi

【 摘 要 】

Reliable GPS positioning in city environment is a key issue actually, signals are prone to multipath, with poor satellite geometry in many streets. Using a 3D urban model to forecast satellite visibility in urban contexts in order to improve GPS localization is the main topic of the present article. A virtual image processing that detects and eliminates possible faulty measurements is the core of this method. This image is generated using the position estimated a priori by the navigation process itself, under road constraints. This position is then updated by measurements to line-of-sight satellites only. This closed-loop real-time processing has shown very first promising full-scale test results.

【 授权许可】

CC BY   
© 2013 by the authors; licensee MDPI, Basel, Switzerland.